Robust control of autonomous underwater vehicles and verification on a tethered flight vehicle

Feng, Z. and Allen, R. (2006) Robust control of autonomous underwater vehicles and verification on a tethered flight vehicle. In, Roberts, G. and Sutton, R. (eds.) Advances in Unmanned Marine Vehicles. (IEE Control Book Series, 69) Hertfordshire. Institution of Engineering and Technology, pp. 161-183.

Abstract

Scope: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles as they provide cost effective solutions to a number of littoral, coastal and offshore problems. This new book highlights the advanced technology which is evolving to meet the challenges being posed in this exciting and growing area of research.
Contents: Navigation, Guidance and Control of Unmanned Marine Vehicles. Nonlinear Modelling, Identification and Control of UUVs. Guidance Laws, Obstacle Avoidance and Artificial Potential Functions. Behaviour Control of UUVs. Thruster Control Allocation for Over-Actuated, Open Frame Underwater Vehicles. Switching-Based Supervisory Control of Underwater Vehicles. Navigation, Guidance and Control of the Hammerhead Autonomous Underwater Vehicle. Robust Control of Autonomous Underwater Vehicles and its Verification on a Tethered Flight Vehicle. Low-Cost High Precision Motion Control for ROV’s. Autonomous Manipulation for an Intervention AUV. AUV ‘r2D4’, its operation, and Road Map for AUV Development. Guidance & Control of a Biomimetic-Autonomous Underwater Vehicle. Seabed-Relative Navigation by Hybrid Structured Lighting. Advances in Real-Time Spatio-Temporal 3D Visualisation for Underwater Robotic Exploration. Unmanned Surface Vehicles - Game Changing Technology for Naval Operations. Modelling, Simulation and Control of an Autonomous Surface Marine Vehicle for Surveying Applications Measuring Dolphin MESSIN. Vehicle and Mission Control of Single and Multiple Autonomous Marine Robots. Wave-Piercing Autonomous Vehicles. Dynamics, Control and Coordination of Underwater Gliders.

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