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Dynamic model for an autonomous underwater vehicle based on experimental data
Valeriano-Medina, Y.; Martínez, A.; Hernández, L.; Sahli, H.; Rodriguez, Y.; Canizares, J.R. (2013). Dynamic model for an autonomous underwater vehicle based on experimental data. Mathematical and Computer Modelling of Dynamical Systems 19(2): 175-200. https://hdl.handle.net/10.1080/13873954.2012.717226
In: Mathematical and Computer Modelling of Dynamical Systems. TAYLOR & FRANCIS INC: Philadelphia. ISSN 1387-3954; e-ISSN 1744-5051, more
Peer reviewed article  

Available in  Authors 

Keyword
    Marine
Author keywords
    autonomous underwater vehicle; dynamic modelling; experimentalidentification; PID controller

Authors  Top 
  • Valeriano-Medina, Y.
  • Martínez, A.
  • Hernández, L.
  • Sahli, H.
  • Rodriguez, Y.
  • Canizares, J.R.

Abstract
    The use of Autonomous Underwater Vehicles (AUV) as robots for exploration and oceanology science has been a field of interest of several universities and research centres around the world. Researchers from the Universidad Central de Las Villas (UCLV) and the Hydrographic Research Center (HRC) have joined forces in the development of the HRCAUV project. This article is aimed at displaying the calculation of the HRCAUV dynamic model, based on low-cost sensors and a set at low-cost experiments. The model is developed to synthesize control algorithms, fault tolerance schemes and navigation systems. Dynamic behaviour and validation of the obtained model is evaluated by means of simulation and sea trials experimental data. Based on a simplified versions of the dynamic model, a heading and pitch/depth controls were implemented. Experimental results of heading and pitch/depth controls and a basic path following are presented.

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