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Guidance and Robust Control of a Double-Hull Autonomous Underwater Vehicle

2017-12Documento de conferência Acesso aberto
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dc.contributor.authorMendes, Carlos Hugo
dc.contributor.authorBentes, Cristiano Alves
dc.contributor.authorRebelo, Tiago Alexandre
dc.contributor.authorBousson, K.
dc.date.accessioned2020-02-24T10:29:26Z
dc.date.available2020-02-24T10:29:26Z
dc.date.issued2017-12
dc.description.abstractThe aim of this paper is to present, discuss and evaluate two linear control solutions for an Autonomous Underwater Vehicle (AUV). As guidance solution, a waypoint following and station-keeping algorithm is presented. Then a PID design is proposed, through the decoupling of the linear system into three lightly interactive subsystems. A Linear Quadratic Regulator (LQR) design is also presented, based on the division of the linear system into longitudinal and lateral subsystems. A control allocation law is also presented to deal with the underactuation problems. Both controllers proved robust for this operating point although, regarding performance, and, for the performed simulation, the LQR controller proved more responsive.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationMendes, C.H.R., Bentes, C.A., Rebelo, T.A., Bousson, K., Guidance and Robust Control of a Double-Hull Autonomous Underwater Vehicle, International Conference on Engineering ICEUBI-2017, Paper ID: 30.02, pp. 1194-1203, Covilhã, Portugal, December 5-7, 2017.pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.6/9477
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherUniversidade da Beira Interiorpt_PT
dc.relation.publisherversionhttp://iceubi.ubi.pt/pt_PT
dc.subjectLinear Quadratic Regulatorpt_PT
dc.subjectProportional Integral Derivativept_PT
dc.subjectUnderwater Vehicle Controlpt_PT
dc.subjectRobust Controlpt_PT
dc.titleGuidance and Robust Control of a Double-Hull Autonomous Underwater Vehiclept_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceCovilhã - Portugalpt_PT
oaire.citation.endPage1203pt_PT
oaire.citation.startPage1194pt_PT
oaire.citation.titleProceedings of ICEUBI-2017pt_PT
oaire.citation.volume1pt_PT
person.familyNameBousson
person.givenNameKouamana
person.identifier.orcid0000-0001-5517-8963
person.identifier.ridI-4117-2015
person.identifier.scopus-author-id6602666967
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationcbb18161-dfb1-41ce-9c4f-a08cfb84fb03
relation.isAuthorOfPublication.latestForDiscoverycbb18161-dfb1-41ce-9c4f-a08cfb84fb03

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