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Linear control design for a path planning of AUV-Cormoran
dc.contributor.author | González Agudelo, Julián |
dc.contributor.author | Benezra, Andreina |
dc.contributor.author | Gomáriz Castro, Spartacus |
dc.contributor.author | Manuel Lázaro, Antonio |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica |
dc.date.accessioned | 2011-02-18T11:27:07Z |
dc.date.available | 2011-02-18T11:27:07Z |
dc.date.created | 2010-12-01 |
dc.date.issued | 2010-12-01 |
dc.identifier.citation | Gonzaléz, J. [et al.]. Linear control design for a path planning of AUV-Cormoran. "Instrumentation viewpoint", 01 Desembre 2010, núm. 10, p. 25-27. |
dc.identifier.issn | 1697-2562 |
dc.identifier.uri | http://hdl.handle.net/2117/11428 |
dc.description.abstract | 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. |
dc.format.extent | 3 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Submersibles--Design and construction |
dc.subject.lcsh | Vehicles, Remotely piloted |
dc.subject.lcsh | Ocean bottom--Research |
dc.subject.lcsh | Vehicles--Dynamics--Mathematical models |
dc.title | Linear control design for a path planning of AUV-Cormoran |
dc.type | Article |
dc.subject.lemac | Vehicles submergibles |
dc.subject.lemac | Fons marins -- Investigació |
dc.subject.lemac | MATLAB (Programes d'ordinador) |
dc.subject.lemac | SIMULINK (Programes d'ordinador) |
dc.subject.lemac | Sistemes de control |
dc.subject.lemac | Vehicles submergibles -- Dinàmica |
dc.contributor.group | Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://sites2.upc.edu/~www-sarti/web/cat/recerca/publi_butlletins.php |
dc.rights.access | Open Access |
local.identifier.drac | 4989097 |
dc.description.version | Postprint (published version) |
local.citation.author | Gonzaléz, J.; Benezra, A.; Gomariz, S.; Mànuel, A. |
local.citation.publicationName | Instrumentation viewpoint |
local.citation.number | 10 |
local.citation.startingPage | 25 |
local.citation.endingPage | 27 |
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