Title :
Steering marine vehicles: a drag coefficient modulation approach
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 manoeuvring 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, modular control surfaces
Keywords :
Lyapunov methods; asymptotic stability; attitude control; dynamics; position control; underwater vehicles; Lyapunov method; asymptotic stability; attitude control; drag coefficient modulation; dynamics; longitudinal control; manoeuvring; position control; steering; underwater vehicles; Attitude control; Communication system control; Control systems; Genomics; Linear systems; Marine vehicles; Trajectory; Underwater vehicles; Vehicle dynamics; Velocity control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936481
