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Preliminary results of a hover capable AUV attempting transitional flight

Steenson, Leo V. (2011) Preliminary results of a hover capable AUV attempting transitional flight In 17th International Unmanned Untethered Submersible Technology Conference. Autonomous Undersea Vehicle Applications Center. 10 pp.

Record type: Conference or Workshop Item (Paper)


The actuators of an over-actuated AUV have been modeled and this information used to design a control algorithm that enables an vehicle to operate throughout a wide range of forward velocities. Both experimental and simulation results are presented for the performance of the through-body vertical tunnel thrusters, four independent control surfaces, and the interaction between the vehicle hull and actuators. The control algorithm has been tested and shown to work adequately well provided the vehicle acceleration is constrained

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Published date: 21 August 2011
Venue - Dates: conference; us; 2011-08-21; 2011-08-24, United States, 2011-08-21 - 2011-08-24
Keywords: autonomous underwater vehicle, nonlinear control, tunnel thruster, control surface, chinese effect
Organisations: Fluid Structure Interactions Group


Local EPrints ID: 207859
PURE UUID: 404cb014-aaad-43a1-9908-becf7a40125e

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Date deposited: 18 Jan 2012 10:14
Last modified: 18 Jul 2017 10:49

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Author: Leo V. Steenson

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