Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration
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چکیده
منابع مشابه
Control of an AUV from Thruster Actuated Hover to Control Surface Actuated Flight
TITLE An autonomous underwater vehicle (AUV) capable of both low speed hovering and high speed flight-style operation is introduced. To have this capability the AUV is over-actuated with a rear propeller, four control surfaces and four through-body tunnel thrusters. In this work the actuators are modelled and the non-linearities and uncertainties are identified and discussed with specific regar...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2015
ISSN: 0921-8890
DOI: 10.1016/j.robot.2014.09.024