Trajectory Tracking of the ‘Cormoran’ AUV Based on a PI-MIMO Approach

F.VALENCIAGA; P.F.PULESTON; O.CALVO; G.G.ACOSTA

Aberdeen. Escocia

Congreso; Oceans’07 (IEEE/OES); 2007

IEEE

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.