DocumentCode
2735751
Title
An integrated approach to the design and analysis of navigation, guidance and control systems for AUVs
Author
Fryxell, Daniel ; Oliveira, Paulo ; Pascoal, António ; Silvestre, Carlos
Author_Institution
Inst. for Syst. & Robotics, Inst. Superior Tecnico, Lisbon, Portugal
fYear
1994
fDate
19-20 Jul 1994
Firstpage
208
Lastpage
217
Abstract
This paper describes an integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles (AUV´s). The general framework is illustrated with a design exercise in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System)
Keywords
control system synthesis; design engineering; identification; marine systems; multivariable control systems; navigation; position control; MARIUS; Marine Utility Vehicle System; autonomous underwater vehicles; control systems; design; guidance; multivariable control; navigation; system identification; trajectory following system; Contracts; Control systems; Control theory; Gold; Marine technology; Marine vehicles; Navigation; Oceans; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on
Conference_Location
Cambridge, MA
Print_ISBN
0-7803-1808-0
Type
conf
DOI
10.1109/AUV.1994.518627
Filename
518627
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