Positioning control of an underactuated surface vessel

Detalhes bibliográficos
Autor(a) principal: Aníbal Matos
Data de Publicação: 2008
Outros Autores: Nuno Cruz
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/70314
Resumo: This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.
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spelling Positioning control of an underactuated surface vesselEngenharia do ambienteEnvironmental engineeringThis paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.20082008-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://hdl.handle.net/10216/70314eng10.1109/oceans.2008.5152091Aníbal MatosNuno Cruzinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T13:38:51Zoai:repositorio-aberto.up.pt:10216/70314Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:44:45.084065Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Positioning control of an underactuated surface vessel
title Positioning control of an underactuated surface vessel
spellingShingle Positioning control of an underactuated surface vessel
Aníbal Matos
Engenharia do ambiente
Environmental engineering
title_short Positioning control of an underactuated surface vessel
title_full Positioning control of an underactuated surface vessel
title_fullStr Positioning control of an underactuated surface vessel
title_full_unstemmed Positioning control of an underactuated surface vessel
title_sort Positioning control of an underactuated surface vessel
author Aníbal Matos
author_facet Aníbal Matos
Nuno Cruz
author_role author
author2 Nuno Cruz
author2_role author
dc.contributor.author.fl_str_mv Aníbal Matos
Nuno Cruz
dc.subject.por.fl_str_mv Engenharia do ambiente
Environmental engineering
topic Engenharia do ambiente
Environmental engineering
description This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10216/70314
url https://hdl.handle.net/10216/70314
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/oceans.2008.5152091
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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