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Author(s): Aníbal Matos
Nuno Cruz
Title: Positioning control of an underactuated surface vessel
Issue Date: 2008
Abstract: This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.
Subject: Engenharia do ambiente
Environmental engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia do ambiente
Engineering and technology::Environmental engineering
Source: OCEANS 2008, VOLS 1-4
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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