Title :
Hovering and altitude control for open-frame UUVs
Author :
Caccia, M. ; Bruzzone, G. ; Veruggio, G.
Author_Institution :
Ist. per l´´Autom. Navale, CNR, Genova, Italy
Abstract :
A two-layered hierarchical guidance and control architecture for UUVs has been integrated with a set of model-based motion estimators in order to enable the execution of high precision motion tasks in proximity of the seabed for scientific benthic applications. Preliminary tests, carried out in a high-diving pool, proved the system functionality, showing the high performances in terms of precision guaranteed by the use of PI-type guidance algorithms and combined estimation of the vehicle depth and altitude in hovering conditions
Keywords :
attitude control; closed loop systems; hierarchical systems; kinematics; motion estimation; position control; remotely operated vehicles; two-term control; underwater vehicles; PI-type guidance algorithms; attitude control; high precision motion tasks; high-diving pool; hovering; model-based motion estimators; open-frame UUVs; open-frame unmanned underwater vehicles; scientific benthic applications; seabed; two-layered hierarchical guidance and control architecture; Control systems; Hydrodynamics; Marine vehicles; Motion control; Motion estimation; Navigation; Remotely operated vehicles; System testing; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769933
