INVESTIGADORES
PULESTON Pablo Federico
congresos y reuniones científicas
Título:
Trajectory Tracking of the Cormoran AUV Based on a PI-MIMO Approach
Autor/es:
F.VALENCIAGA; P.F.PULESTON; O.CALVO; G.G.ACOSTA
Lugar:
Aberdeen. Escocia
Reunión:
Congreso; Oceans07 (IEEE/OES); 2007
Institución organizadora:
IEEE
Resumen:
This paper describes the control strategy developed
for the Cormoran, a low cost ocean observing platform,paper describes the control strategy developed
for the Cormoran, a low cost ocean observing platform,platform,
hybrid between AUVs and ASVs. This robot moves slightlybetween AUVs and ASVs. This robot moves slightly
underneath the sea surface following a previously plannedfollowing a previously planned
route and regularly dives to make vertical profiles of the
water column. Obtained data is transmitted in real time to
the laboratory and assimilated into a numerical coastal model.
The control structure proposed in this article comprises a
Navigation Block and a MIMO Control Block. The former is
based on a following Lyapunov-based algorithm and computesregularly dives to make vertical profiles of the
water column. Obtained data is transmitted in real time to
the laboratory and assimilated into a numerical coastal model.
The control structure proposed in this article comprises a
Navigation Block and a MIMO Control Block. The former is
based on a following Lyapunov-based algorithm and computesproposed in this article comprises a
Navigation Block and a MIMO Control Block. The former is
based on a following Lyapunov-based algorithm and computesBlock and a MIMO Control Block. The former is
based on a following Lyapunov-based algorithm and computeson a following Lyapunov-based algorithm and computes
on-line the reference signals required by the latter to reach
and robustly track the desired trajectory. The MIMO Control
Block architecture is based on a PI-MIMO control strategy that
commands the rudder and the propeller. Computer simulationssignals required by the latter to reach
and robustly track the desired trajectory. The MIMO Control
Block architecture is based on a PI-MIMO control strategy that
commands the rudder and the propeller. Computer simulationsrobustly track the desired trajectory. The MIMO Control
Block architecture is based on a PI-MIMO control strategy that
commands the rudder and the propeller. Computer simulationsstrategy that
commands the rudder and the propeller. Computer simulationsComputer simulations
utilizing a dynamic model of the Cormoran and realistic
disturbances are presented.a dynamic model of the Cormoran and realistic
disturbances are presented.are presented.