This paper presents the development and simulation results of a fully coupled control system for an autonomous underwater vehicle (AUV). The performance metric used within this paper is the maximum instantaneous cross-track error observed while the AUV is executing a trajectory following exercise under the influence of an ocean current disturbance. Comparisons between the proposed system and an uncoupled system show that the proposed system has advantages such as improved trajectory tracking abilities and reduced actuator usage.


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    Title :

    Fully coupled 6 degrees-of-freedom control of autonomous underwater vehicles


    Contributors:
    Kokegei, M. (author) / He, Fangpo (author) / Sammut, K. (author)

    Published in:

    Publication date :

    2008


    Size :

    7 Seiten, 12 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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