A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)

Simon A. Watson; Peter N. Green

doi:10.1109/ICMA.2011.5985722

A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation. © 2011 IEEE.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011\|IEEE Int. Conf. Mechatronics Autom., ICMA
Pages	561-566
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2011.5985722
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing Duration: 1 Jul 2011 → …

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
City	Beijing
Period	1/07/11 → …

Keywords

Autonomous Underwater Vehicles (AUVs)
PID Control

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10.1109/ICMA.2011.5985722

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title = "A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)",

abstract = "Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation. {\textcopyright} 2011 IEEE.",

keywords = "Autonomous Underwater Vehicles (AUVs), PID Control",

author = "Watson, \{Simon A.\} and Green, \{Peter N.\}",

year = "2011",

doi = "10.1109/ICMA.2011.5985722",

language = "English",

isbn = "9781424481149",

pages = "561--566",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011|IEEE Int. Conf. Mechatronics Autom., ICMA",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 01-07-2011",

}

Watson, SA & Green, PN 2011, A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs). in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011|IEEE Int. Conf. Mechatronics Autom., ICMA. pp. 561-566, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, 1/07/11. https://doi.org/10.1109/ICMA.2011.5985722

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N2 - Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation. © 2011 IEEE.

AB - Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation. © 2011 IEEE.

KW - Autonomous Underwater Vehicles (AUVs)

KW - PID Control

U2 - 10.1109/ICMA.2011.5985722

DO - 10.1109/ICMA.2011.5985722

M3 - Conference contribution

SN - 9781424481149

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EP - 566

BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011|IEEE Int. Conf. Mechatronics Autom., ICMA

T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Y2 - 1 July 2011

ER -

A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)

Abstract

Conference

Keywords

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