Global Directional Control of a Slender Autonomous Underwater Vehicle
نویسندگان
چکیده
منابع مشابه
Global Directional Control of a Slender Autonomous Underwater Vehicle
C ONVENTIONAL streamlined autonomous underwater vehicles (AUVs) are underactuated by design. Typically, they include a propulsor and torque actuators, such as control planes. In this Note, it is assumed that the 6 degrees of freedom vehicle is actuated in 4 degrees of freedom: surge, roll, pitch, and yaw. The control objective is to globally asymptotically stabilize longitudinalaxis translation...
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In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
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in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...
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Research on the autonomous underwater vehicles (AUVs) has been gaining more interest in the recent past. AUVs have been envisioned as a cost effective and safe solution for various underwater missions including but are not limited to underwater scientific test-bed, deep oceanic surveillance, environmental monitoring and underwater structures inspection. The control for such autonomous vehicles,...
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ژورنال
عنوان ژورنال: Journal of Guidance, Control, and Dynamics
سال: 2007
ISSN: 0731-5090,1533-3884
DOI: 10.2514/1.20475