Navigation, guidance and control of AUVs: An application to the MARIUS vehicle

作     者：Fryxell, D Oliveira, P Pascoal, A Silvestre, C Kaminer, I 

作者机构：Univ Tecn Lisboa DEPT ELECT ENGN INST SUPER TECN P-1096 LISBON PORTUGAL USN POSTGRAD SCH DEPT AERONAUT & ASTRONAUT MONTEREY CA 93943 USA 

出 版 物：《CONTROL ENGINEERING PRACTICE》 (Control Eng. Pract.)

年 卷 期：1996年第4卷第3期

页      面：401-409页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

主　　题：autonomous vehicles tracking systems guidance navigation H-infinity control 

摘      要：This paper addresses the problem of designing guidance, control and navigation systems for autonomous underwater vehicles (AUVs). Its contribution is twofold: i) it introduces a new methodology for the integrated design of guidance and control, and ii) it describes a novel approach to the analysis and design of multi-rate complementary filters for navigation. The methodologies proposed lead to an efficient procedure for the design of controllers for AUVs, to accurately track reference trajectories defined in an inertial reference frame. The paper illustrates the application of that procedure to the design of a tracking controller for the MARIUS AUV. The design phase is summarized, and the performance of the resulting controller is assessed in simulations, using dynamic models of the vehicle and its sensor suite.