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
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;
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
DOI :
10.1109/AUV.1994.518627
