dc.contributor.author | Maurya, P. | |
dc.contributor.author | Desa, E. | |
dc.contributor.author | Pascoal, A. | |
dc.contributor.author | Barros, E. | |
dc.contributor.author | Navelkar, G.S. | |
dc.contributor.author | Madhan, R. | |
dc.contributor.author | Mascarenhas, A.A.M.Q. | |
dc.contributor.author | Prabhudesai, S.P. | |
dc.contributor.author | Afzulpurkar, S. | |
dc.contributor.author | Gouveia, Ashwin | |
dc.contributor.author | Naroji, S. | |
dc.contributor.author | Sebastiao, l. | |
dc.date.accessioned | 2008-01-31T04:43:37Z | |
dc.date.available | 2008-01-31T04:43:37Z | |
dc.date.issued | 2007 | |
dc.identifier.citation | Proceedings MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 7 ppp. | |
dc.identifier.uri | http://drs.nio.org/drs/handle/2264/704 | |
dc.description.abstract | The 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.iso | en | |
dc.publisher | Institute for Systems and Robotics | |
dc.title | Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results | |
dc.type | Conference Article | |