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Linear control of the yaw and rudder limitations for Cormoran AUV

Author
González, J.; Masmitja, I.; Batlle, C.; Gomariz, S.; Llorens, A.
Type of activity
Presentation of work at congresses
Name of edition
5th International Workshop on Marine Technology
Date of publication
2013
Presentation's date
2013-10-11
Book of congress proceedings
MARTECH 2013: 5th International Workshop on Marine Technology: 19th-20th of November, Girona
Repository
http://hdl.handle.net/2117/20853 Open in new window
Abstract
This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (AUV). The development includes the physical limitations of the rudder that involve more constraints for the control that has a limited action and implies to reduce the gain loop of the controller. The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.
Citation
González, J. [et al.]. Linear control of the yaw and rudder limitations for Cormoran AUV. A: International Workshop on Marine Technology. "FIFTH INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY". Girona: 2013.
Group of research
ACES - Advanced Control of Energy Systems
GRDU -
PERC-UPC - Power Electronics Research Centre
SARTI - Technological Development Center for Remote Acquisition and Data Processing System
SARTI-MAR -

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