Dynamic model for an autonomous underwater vehicle based on experimental data

References

• Fjellstad , O. 1994 . Control of unmanned underwater vehicles in six degrees of freedom a quaternion feedback approach . Doctoral thesis, NTNU, Norway ,
   Google Scholar
• Martínez , A. , Rodríguez , Y. , Hernández , L. , Guerra , C. and Sahli , H. 2010 . Hardware and software architecture for AUV based on low-cost sensors, in The 11th International Conference on Control, Automation, Robotics and Vision, ICARCV, IEEE Xplore, Singapore, December
   Google Scholar
• Kim , K. and Ura , T. 3-Dimensional trajectory tracking control of an AUV R-One Robot considering current interaction, in The Twelfth (2002) International Offshore and Polar Engineering Conference , 2002 Cupertino , CA : The International Society of Offshore and Polar Engineers .
   Google Scholar
• McEwen , R. and Streitlien , K. 2006 . Modeling and control of a variable-length AUV , Monterey , CA : Tech. Rep., Monterey Bay Aquarium Research Institute .
   Google Scholar
• Kim , K. and Ura , T. 2003 . Fuel-optimal guidance and tracking control of AUV under current interaction, in The Thirteenth International Offshore and Polar Engineering Conference , Cupertino , CA : The International Society of Offshore and Polar Engineers .
   Google Scholar
• Antonelli , G. 2003 . “ A survey of fault detection/tolerance strategies for AUVs and ROVs, in Advanced Robotic ” . In Springer-Verlag, Berlin/Heidelberg Edited by: Caccavale , F. and Villani , L. 109 – 127 .
   Google Scholar
• Ni , L. 2001 . Fault-tolerant control of unmanned underwater vehicles , Blacksburg , VA : Virginia Polytechnic Institute . Doctoral thesis
   Google Scholar
• Hegrenaes , O. , Hallingstad , O. and Jalving , B. Comparison of mathematical models for the HUGIN 4500 AUV based on experimental data, in The IEEE International Symposium on Underwater Technology , 2007 Tokyo : IEEE .
   Google Scholar
• Fauske , K.M. , Gustafsson , F. and Hegrenaes , O. July 2007 . “ Estimation of AUV dynamics for sensor fusion ” . In 10th International Conference on Information Fusion , July , 1 – 6 . Quebec : IEEE Xplore .
   Google Scholar
• Sangekar , M. , Chitre , M. and Koay , T.B. 2008 . Hardware architecture for a modular autonomous underwater vehicle STARFISH, in OCEANS, IEEE Xplore, Quebec, September 1 – 8 .
   Google Scholar
• Fossen , T. 1994 . Guidance and Control of Ocean Vehicles , New York : Wiley & Sons .
   Google Scholar
• daSilva , J.E. , Terra , B. , Martins , R. and deSousa , J.B. 2007 . Modeling and simulation of the LAUV autonomous underwater vehicle, in 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics , New York : IEEE Control Systems Society .
   Google Scholar
• SNAME . 1950 . Nomenclature for treating the motion of a submerged body through a fluid , New York : SNAME . Technical and Research Bulletin No. 1–5
   Google Scholar
• Antonelli , G. 2006 . Underwater Robots , 2nd , Vol. 2 , Milano : Springer .
   Google Scholar
• Gorset , J. 2007 . Nonlinear model-based control of slender body AUVs, Doctoral thesis , Norway : NTNU .
   Google Scholar
• Fossen , T. and Ross , A. 2006 . Nonlinear modelling, identification and control of UUVs.in Advances in Unmanned Marine Vehicles , Edited by: Roberts , G.N. and Sutton , R. Vol. 69 , 13 – 42 . London : Peter Peregrinus Ltd .
   Google Scholar
• Fossen , T.I. , Johansen , T. and Perez , T. 2008 . “ A survey of control allocation methods for underwater vehicles, in Underwater Vehicles ” . In InTech, Vienna Edited by: Alexander , V. Inzartsev . 109 – 128 .
   Google Scholar
• Åström , K. and Hägglund , T. 1995 . PID Controllers: Theory, Design and Tuning, , 2nd , NC : Instrument Society of America, Research Triangle Park .
   Google Scholar
• Miskovic , N. , Vukic , Z. and Omerdic , E. 2008 . “ Control of UUV s based upon mathematical models obtained from self-oscillations experiments, in IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles ” . In IFAC, Killaloe Edited by: Toal , D. , Omerdic , E. and Horgan , J. Vol. 2 ,
   Google Scholar
• Perez , T. , Smogeli , Ø.N. , Fossen , T.I. and Sørensen , A.J. 2006 . An overview of the marine systems simulator (MSS): a Simulink toolbox for marine control systems . Model. Ident. Control , 27 : 239 – 258 .
   Google Scholar