This paper describes the control strategy developed for the Cormoran, a low cost ocean observing platform, hybrid between AUVs and ASVs. This robot moves slightly underneath the sea surface following a previously planned route and regularly dives to make vertical profiles of the water column. Obtained data is transmitted in real time to the laboratory and assimilated into a numerical coastal model. The control structure proposed in this article comprises a Navigation Block and a MIMO Control Block. The former is based on a following Lyapunov-based algorithm and computes on-line the reference signals required by the latter to reach and robustly track the desired trajectory. The MIMO Control Block architecture is based on a PI-MIMO control strategy that commands the rudder and the propeller. Computer simulations utilizing a dynamic model of the Cormoran and realistic disturbances are presented.


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    Titel :

    Trajectory tracking of the Cormoran AUV based on a PI-MIMO approach


    Beteiligte:
    Valenciaga, F. (Autor:in) / Puleston, P.F. (Autor:in) / Calvo, O. (Autor:in) / Acosta, G.G. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2007


    Format / Umfang :

    6 Seiten, 10 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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