Please use this identifier to cite or link to this item: http://hdl.handle.net/10216/70308
Author(s): Bruno Ferreira
Miguel Pinto
Aníbal Matos
Nuno Cruz
Title: Control of the MARES autonomous underwater vehicle
Issue Date: 2009
Abstract: This paper focuses the control problem of a nonholonomic autonomous underwater vehicle, moving in the tridimensional space. The dynamic of a body in submarine environments is strongly nonlinear. This implies that classical linear controllers are often inadequate whereby Lyapunov theory is here considered. Methods based in this theory are promising tools to design controllers and are applied to the case of MARES, a small-sized autonomous underwater vehicle. Several controllers based only on Lyapunov theory are determined while others combine linear and nonlinear control theory in order to perform various maneuvers. Aiming to verify the correct performance of controllers, simulations and experiments are carried out.
Subject: Engenharia do ambiente
URI: http://hdl.handle.net/10216/70308
Source: OCEANS 2009, VOLS 1-3
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
License: https://creativecommons.org/licenses/by-nc/4.0/
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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