Title :
A new AUV configuration with four tilting thrusters: Navigation and hover tasks
Author :
Torres, I. ; Torres, Juana ; Lozano, Rogelio
Author_Institution :
Dept. of Autom. Control, CINVESTAV, Mexico City, Mexico
Abstract :
This paper presents the study, development and implementation of an attitude controller for an AUV(Autonomous Underwater Vehicle). The goal is the hover stabilization of the prototype taking in account the dynamic modeling of translation and orientation. Missions were performed at slow speed to evaluated real time autonomous navigation. The control is based on a saturated PD control law. Results are presented from real time experiments.
Keywords :
PD control; autonomous underwater vehicles; marine propulsion; stability; vehicle dynamics; AUV configuration; attitude controller; autonomous underwater vehicle; dynamic orientation modeling; dynamic translation modeling; hover stabilization; real time autonomous navigation; saturated PD control law; tilting thrusters; Equations; Mathematical model; Navigation; Underwater vehicles; Vectors; Vehicle dynamics; Vehicles;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421177
