This work shows a linearization for a AUV-Cormoran
dynamic mathematical model with the aim of designing linear
controllers for trajectory control. The model is developed under 3
degrees of freedom and the whole system has been simulated in
Matlab Simulink environment. The linearization model is based on
understanding the dynamics of the vehicle under different operating
speeds, which present a different behavior, yet to be controlled
by a single linear controller. For the linear control has raised the PD
control that allows eliminate the position error, performing simulations
of different trajectories and comparing its results in stability.
CitacióGonzaléz, J. [et al.]. Linear control design for a path planning of AUV-Cormoran. "Instrumentation viewpoint", 01 Desembre 2010, núm. 10, p. 25-27.