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

被引：0
|
作者：
Valenciaga, F. [1 ]
Puleston, P. F. [1 ]
Calvo, O. [2 ]
Acosta, G. G. [3 ]
机构：
[1] Natl Univ La Plata, Fac Engn, LEICI, CC-91,CP-1900, La Plata, Buenos Aires, Argentina
[2] Univ Ballearic Islands, Dept Phys, Palma De Mallorca, Spain
[3] Bs As Province Ctr Natl Univ, Fac Engn, INTELYMEC, Tandil, Argentina
来源：
OCEANS 2007 - EUROPE, VOLS 1-3 | 2007年
关键词：
D O I：
暂无
中图分类号：
X [环境科学、安全科学];
学科分类号：
08 ; 0830 ;
摘要：
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.
引用
收藏
页码：604 / +
页数：2
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