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Thermocline has a significant impact on marine fishery, navy submarine activity, ocean circulation and internal wave. In consideration of long range, low cost, and high maneuverability, the AUV (Autonomous Underwater Vehicle) is an ideal platform for ocean local precisely thermocline tracking. Combining with the advantage of the AUV yo-yo movement, this paper presents a simple and effective thermocline...
In this paper, a method based on the followers' real-time state feedback in the leader-follower formation control of multiple autonomous underwater vehicles (Multi-AUVs) cooperative system is presented. First of all, some classifications of the followers' possible abnormal conditions will be redefined. Then state feedback strategy of the followers is introduced to the traditional leader-follower method...
Aiming at the demand of marine environment observation and realizing AUV industrialization, A portable autonomous observation system (PAOS) was built by Shenyang Institute of Automation. In 2013, Lake trial, sea trial and the standard sea trial was conducted. This paper describes system components, control system design of the PAOS, trial process and test result.
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