The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The underwater vehicle is six degrees of freedom model. The execution of spatial maneuvers are determined mainly by the dynamic properties of underwater vehicle particularly controllability and stability. The control surfaces are situated at the rear end of the underwater vehicle which moves either vertically or horizontally (Pitch, Yaw, Roll, Pitch-rate,Yaw-rate etc.) used to steer the vehicle to...
Three-dimensional motion coordination in a flowfield has applications in environmental monitoring with autonomous vehicles. Motion-coordination algorithms designed using a flow-free motion model often fail to converge in even moderate flow speeds. We apply Lyapunov-based methods to design decentralized feedback laws for use in a three-dimensional, time-invariant flowfield that does not exceed the...
Abstract-This paper introduces a kinematic model of a deep-sea mining vehicle in presence of sliding parameters. The model describes both the noises features of sliding parameters and the deep-sea condition features. To handle sliding parameters noises, a recursive algorithm to minimize difference between the filter-computed and the actual innovation covariance is adopted, which is a novel integrated...
We examine several problems and solutions that use active sensing and Autonomous Underwater Vehicles (AUVs). We are particularly interested in the multiple vehicles approaches or possibilities. We discuss and formulate different types of problems. These types are then classified in an original fashion, using activities (i.e., functionalities). Various limitations exist when using AUVs and underwater...
The underwater vehicle is six degrees of freedom model. The execution of spatial maneuvers are determined mainly by the dynamic properties of underwater vehicle particularly controllability and stability. The control surfaces are situated at the rear end of the underwater vehicle which moves either vertically or horizontally (pitch, yaw, roll, pitch-rate, yaw-rate etc.) used to steer the vehicle to...
This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control system models were developed. By implementing a multiple...
This paper presents a new controller design method based on the data-mining polynomial algorithm. We show application of a polynomial data-mining algorithm to controller design, where an input-state linearized polynomial vehicle model is developed for a very low speed operation and without introducing any process with fudge factor, control inputs of nonlinear system are obtained in the original coordinate...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.