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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932667
