Hydrodynamic model, simulation and linear control for Cormoran-AUV

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/15532

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	Garcia, Albert
dc.date	2011
dc.identifier.citation	González, J. [et al.]. Hydrodynamic model, simulation and linear control for Cormoran-AUV. A: International Workshop on Marine Technology. "MARTECH 2011; fourth International Workshop on Marine Technology". Cadiz: 2011, p. 1-4.
dc.identifier.citation	978-84-694-4775-8
dc.identifier.uri	http://hdl.handle.net/2117/15532
dc.language.iso	eng
dc.relation	http://martech2011.uca.es
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 electrònica
dc.subject	Àrees temàtiques de la UPC::Enginyeria mecànica::Mecànica de fluids
dc.subject	Hydrodynamics
dc.subject	Linear control systems
dc.subject	Hidrodinàmica
dc.subject	Control, Teoria de
dc.title	Hydrodynamic model, simulation and linear control for Cormoran-AUV
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	This work shows the mathematic calculation for obtention of a Cormoran-AUV hydrodynamic model, it also shows a linar control design for a path tracking. The model has been simplified to three degrees of freedom of movement and the whole system has been simulated using Matlab Simulink Software. The system has been linearizated for different velocities to design a linear control for each one of them. However, all resulting systems can be controlled by a unique linear control due characteristics of the vehicle. The designed control is a PD controller, which avoids the position error since the pole of the vehicle model is at the origin. Different paths have been simulated using this control and their results have been comparated in both rising time as establish time.

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