Linear control design for a path planning of AUV-Cormoran

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/11428

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.contributor	Universitat Politècnica de Catalunya. Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació (SARTI)
dc.contributor.author	González Agudelo, Julián
dc.contributor.author	Benezra, Andreina
dc.contributor.author	Gomáriz Castro, Spartacus
dc.contributor.author	Manuel Lázaro, Antonio
dc.date	2010-12-01
dc.identifier.citation	Gonzaléz, J. [et al.]. Linear control design for a path planning of AUV-Cormoran. "Instrumentation viewpoint", 01 Desembre 2010, núm. 10, p. 25-27.
dc.identifier.citation	1697-2562
dc.identifier.uri	http://hdl.handle.net/2117/11428
dc.language.iso	eng
dc.relation	http://sites2.upc.edu/~www-sarti/web/cat/recerca/publi_butlletins.php
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Submersibles--Design and construction
dc.subject	Vehicles, Remotely piloted
dc.subject	Ocean bottom--Research
dc.subject	Vehicles--Dynamics--Mathematical models
dc.subject	Vehicles submergibles
dc.subject	Fons marins -- Investigació
dc.subject	MATLAB (Programes d'ordinador)
dc.subject	SIMULINK (Programes d'ordinador)
dc.subject	Sistemes de control
dc.subject	Vehicles submergibles -- Dinàmica
dc.title	Linear control design for a path planning of AUV-Cormoran
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/article
dc.description.abstract	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.
dc.description.abstract	Peer Reviewed

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