Title :
Dynamics and control of MTV: a multipurpose unmanned underwater vehicle
Author :
Menozzi, Alberico ; Galiardi, T.C. ; Lyshevski, Sergey E.
Author_Institution :
Warfare Center Div., Naval Underwater Syst. Center, Newport, RI, USA
Abstract :
The Manta Test Vehicle (MTV) has been built by the US Navy as the prototype of a new class of unmanned underwater vehicles (UWs). The paper presents the complete nonlinear dynamics model of the MTV and discusses the design of its control system. As MTV´s first in-water trial is still to come, performance is shown through simulated runs
Keywords :
control system synthesis; dynamics; motion control; nonlinear control systems; nonlinear dynamical systems; remotely operated vehicles; underwater vehicles; Manta Test Vehicle; US Navy; complete nonlinear dynamics model; multipurpose unmanned underwater vehicle; Marine vehicles; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Propellers; Prototypes; Testing; Underwater vehicles; Vectors; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878774
