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Autonomous Underwater Vehicle Model for Underactuated Control Design and Path Following Applications

By Walter Caharija, Kristin Y. Pettersen, Jan Tommy Gravdahl and Even Børhaug


Abstract—A manoeuvring model and a design technique for path following applications of underactuated underwater vehicles are summarized. The model applies to slender body autonomous underwater vehicles (AUV) of cylindrical shape employing similar types of steering and diving control surfaces, and is meant for low speed manoeuvring applications. The underactuated design procedure used to successfully solve a path following task is briefly explained. I

Year: 2013
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