This paper presents the development and simulation results of a fully coupled control system for an autonomous underwater vehicle (AUV). The performance metric used within this paper is the maximum instantaneous cross-track error observed while the AUV is executing a trajectory following exercise under the influence of an ocean current disturbance. Comparisons between the proposed system and an uncoupled system show that the proposed system has advantages such as improved trajectory tracking abilities and reduced actuator usage.
Fully coupled 6 degrees-of-freedom control of autonomous underwater vehicles
OCEANS, OCEANS, 2008a ; 1-7
2008
7 Seiten, 12 Quellen
Aufsatz (Konferenz)
Englisch