Hovering and altitude control for open-frame UUVs

Author

Caccia, M. ; Bruzzone, G. ; Veruggio, G.

Author_Institution

Ist. per l´´Autom. Navale, CNR, Genova, Italy

Volume

1

fYear

1999

fDate

1999

Firstpage

72

Abstract

A two-layered hierarchical guidance and control architecture for UUVs has been integrated with a set of model-based motion estimators in order to enable the execution of high precision motion tasks in proximity of the seabed for scientific benthic applications. Preliminary tests, carried out in a high-diving pool, proved the system functionality, showing the high performances in terms of precision guaranteed by the use of PI-type guidance algorithms and combined estimation of the vehicle depth and altitude in hovering conditions

Keywords

attitude control; closed loop systems; hierarchical systems; kinematics; motion estimation; position control; remotely operated vehicles; two-term control; underwater vehicles; PI-type guidance algorithms; attitude control; high precision motion tasks; high-diving pool; hovering; model-based motion estimators; open-frame UUVs; open-frame unmanned underwater vehicles; scientific benthic applications; seabed; two-layered hierarchical guidance and control architecture; Control systems; Hydrodynamics; Marine vehicles; Motion control; Motion estimation; Navigation; Remotely operated vehicles; System testing; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.769933

Filename

769933