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dc.contributor.authorMaurya, P.
dc.contributor.authorDesa, E.
dc.contributor.authorPascoal, A.
dc.contributor.authorBarros, E.
dc.contributor.authorNavelkar, G.S.
dc.contributor.authorMadhan, R.
dc.contributor.authorMascarenhas, A.A.M.Q.
dc.contributor.authorPrabhudesai, S.P.
dc.contributor.authorAfzulpurkar, S.
dc.contributor.authorGouveia, Ashwin
dc.contributor.authorNaroji, S.
dc.contributor.authorSebastiao, l.
dc.date.accessioned2008-01-31T04:43:37Z
dc.date.available2008-01-31T04:43:37Z
dc.date.issued2007
dc.identifier.citationProceedings MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 7 ppp.
dc.identifier.urihttp://drs.nio.org/drs/handle/2264/704
dc.description.abstractThe paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests with the prototype vehicle are discussed. The paper concludes with a discussion of the interaction between motions in the horizontal and vertical planes due to an asymmetry in the placement of the stern control planes.
dc.language.isoen
dc.publisherInstitute for Systems and Robotics
dc.titleControl of the Maya AUV in the vertical and horizontal planes: Theory and practical results
dc.typeConference Article


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