DocumentCode
3226340
Title
Planar motion steering of underwater vehicles by exploiting drag coefficient modulation
Author
Aicardi, M. ; Casalino, G. ; Indiveri, G.
Author_Institution
Dept. of Commun. Comput. & Syst. Sci., Genoa Univ., Italy
Volume
1
fYear
2001
fDate
2001
Firstpage
915
Abstract
An underwater planar vehicle, actuated by rear thrusters and equipped with longitudinal control surfaces which allow the drag coefficient modulation in the sway direction, is considered in a dynamic setting. The maneuvring controls for the vehicle, in order to reach the required final position and attitude are devised by exploiting both the rear thrusters actuation and the capability offered by the admitted presence of the longitudinal, modulable, control surfaces.
Keywords
drag; underwater vehicles; drag coefficient modulation; longitudinal control surfaces; longitudinal modulable control surfaces; planar motion steering; rear thrusters; rear thrusters actuation; underwater planar vehicle; Attitude control; Communication system control; Control systems; Linear systems; Marine vehicles; Motion control; Trajectory; Underwater vehicles; Vehicle dynamics; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932667
Filename
932667
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