Skip to main content
Presentation
Autonomous Control for a Differential Thrust ROV
Proceedings of the 2007 International Symposium on Unmanned Untethered Submersible Technology
  • Wei Wang, University of Waterloo
  • Christopher M. Clark, California Polytechnic State University - San Luis Obispo
Publication Date
1-1-2007
Abstract

Smaller autonomous underwater vehicles that use differential thrust for surge and yaw motion control has the advantage of low cost and, at the same time, increased maneuverability in yaw direction. However, since such vehicles are underactuated vehicles, design of an autonomous control system that enables the vehicle to autonomously track a predefined trajectory is challenging. In this paper, we presented such an autonomous control system and implemented it on a small underactuated ROV with the use of unscented Kalman filter for vehicle localization, a underwater acoustic positioning system as the position sensor and a compass as the direction sensor. In designing the control law, the integrator backstep technique is used to achieve Lyapunov stability. Computer simulation and field tests have shown that the autonomous control system works well for the vehicle to track a predefined trajectory and the the tracking error converged to a certain small value.

Disciplines
Number of Pages
7
Citation Information
Wei Wang and Christopher M. Clark. "Autonomous Control for a Differential Thrust ROV" Proceedings of the 2007 International Symposium on Unmanned Untethered Submersible Technology (2007)
Available at: http://works.bepress.com/cmclark/30/