Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
700324 | Control Engineering Practice | 2007 | 13 Pages |
Abstract
The paper addresses the problem of autonomous underwater vehicle (AUV) control in the absence of full state information. An application is made to the control of a prototype AUV in the vertical plane. The methodology adopted for controller design is nonlinear gain-scheduling control, whereby a set of linear, dynamic, reduced order output feedback controllers are designed and scheduled on the vehicle's forward speed. The paper summarizes the controller design steps, describes a technique for its practical implementation, and presents experimental results obtained with the INFANTE AUV during tests at sea.
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Aerospace Engineering
Authors
C. Silvestre, A. Pascoal,