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Linear control design for a path planning of AUV-Cormoran
González Agudelo, Julián; Benezra, Andreina; Gomáriz Castro, Spartacus; Manuel Lázaro, Antonio
Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació
This work shows a linearization for a AUV-Cormoran dynamic mathematical model with the aim of designing linear controllers for trajectory control. The model is developed under 3 degrees of freedom and the whole system has been simulated in Matlab Simulink environment. The linearization model is based on understanding the dynamics of the vehicle under different operating speeds, which present a different behavior, yet to be controlled by a single linear controller. For the linear control has raised the PD control that allows eliminate the position error, performing simulations of different trajectories and comparing its results in stability.
Peer Reviewed
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Submersibles--Design and construction
Vehicles, Remotely piloted
Ocean bottom--Research
Vehicles--Dynamics--Mathematical models
Vehicles submergibles
Fons marins -- Investigació
MATLAB (Programes d'ordinador)
SIMULINK (Programes d'ordinador)
Sistemes de control
Vehicles submergibles -- Dinàmica
Attribution-NonCommercial-NoDerivs 3.0 Spain

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