Decoupled modelling and controller design for the hybrid autonomous underwater vehicle: MACO

被引：4
|
作者：
Kennedy, J. [1 ]
Gamroth, E. [1 ]
Bradley, C. [1 ,3 ]
Proctor, A. A. [1 ]
Heard, G. J. [2 ]
机构：
[1] Univ Victoria, Dept Mech Engn, Victoria, BC, Canada
[2] Def R&D Canada Atlantic, Rapidly Deployable Syst Grp, Dartmouth, NS, Canada
[3] Lab Automat Commun & Informat Syst Res LACIR, Victoria, BC, Canada
来源：
UNDERWATER TECHNOLOGY | 2007年 / 27卷 / 01期
关键词：
Autonomous underwater vehicle; hybrid underwater vehicle; AUV testing; dynamic modelling;
D O I：
10.3723/175605407782724979
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle (AUV) named MACO capable of 3-D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this paper.
引用
收藏
页码：11 / 21
页数：11
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