Control and guidance of a hovering AUV pitching up or down

被引：0
|
作者：
Ferreira, Bruno M. [1 ]
Jouffroy, Jerome [2 ]
Matos, Anibal C. [1 ]
Cruz, Nuno A. [1 ]
机构：
[1] Univ Porto, INESC TEC, P-4200465 Oporto, Portugal
[2] Univ So Denmark, DK-6400 Sonderborg, Denmark
来源：
2012 OCEANS | 2012年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, we present an approach to control an autonomous underwater vehicle in the vertical and the horizontal planes while pitching down or up (theta = +/-pi/2). Such a capability is explored in MARES, a small-sized, torpedo-shaped hovering AUV with four degrees of freedom. Despite the fact that roll angle is not controllable, we find a guidance law that makes the vehicle reach any point in the horizontal plane while maintaining the vehicle in the vertical position.
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页数：7
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