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Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results

DRS at CSIR-National Institute of Oceanography

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Title Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results
 
Creator Maurya, P.
Desa, E.
Pascoal, A.
Barros, E.
Navelkar, G.S.
Madhan, R.
Mascarenhas, A.A.M.Q.
Prabhudesai, S.
Afzulpurkar, S.
Gouveia, Ashwin
Naroji, S.
Sebastiao, l.
 
Description The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests with the prototype vehicle are discussed. The paper concludes with a discussion of the interaction between motions in the horizontal and vertical planes due to an asymmetry in the placement of the stern control planes.
 
Date 2008-01-31T04:43:37Z
2008-01-31T04:43:37Z
2007
 
Type Conference Article
 
Identifier Proceedings MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 7 ppp.
http://drs.nio.org/drs/handle/2264/704
 
Language en
 
Publisher Institute for Systems and Robotics