Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories

Author

Aguiar, A. ; Pascoal, A.

Author_Institution

Dept. of Electr. Eng., Inst. Superior Tecnico, Lisbon, Portugal

Volume

2

fYear

1997

fDate

6-9 Oct 1997

Firstpage

888

Abstract

This paper describes the design of the control and guidance systems of SIRENE, an autonomous underwater shuttle for the transport and accurate positioning of benthic laboratories on the seabed down a depth of 6000 meters. The paper introduces the nonlinear hydrodynamic model of the vehicle and derives a class of sliding mode control laws for vehicle stabilization and steering in the vertical and horizontal planes. The control algorithms are combined with a classical line-of-sight guidance law, and the performance of the resulting system is evaluated in a computer based simulation of a realistic mission scenario

Keywords

attitude control; hydrodynamics; marine systems; navigation; nonlinear systems; position control; robust control; transportation; variable structure systems; 6000 m; SIRENE; autonomous underwater shuttle; benthic laboratory; guidance systems; nonlinear hydrodynamic model; positioning; sliding mode control; stabilization; steering; transportation; underwater vehicles; Computational modeling; Computer simulation; Computer vision; Laboratories; Marine vehicles; Navigation; Oceans; Sliding mode control; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '97. MTS/IEEE Conference Proceedings

Conference_Location

Halifax, NS

Print_ISBN

0-7803-4108-2

Type

conf

DOI

10.1109/OCEANS.1997.624110

Filename

624110