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Optimal Control System for a Semi-Autonomous Underwater Vehicle

Name: Optimal Control System for a Semi-Autonomous Underwater Vehicle
Brand: VDM Verlag
SKU: 06832134
Price: 52.0 EUR
Availability: InStock
Author: Daniel de Almeida Fernandes
ISBN: 9783639245455

Daniel de Almeida Fernandes

Décio Crisol Donha

Language

English

Book Paperback

Libristo code: 06832134

Publishers VDM Verlag, April 2010

Submarine activities have increased steadily in the last forty years all over the world. In Brazil,... Full description

Libristo code: 06832134

127 b

52.00 €

101.71 лв

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Submarine activities have increased steadily in the last forty years all over the world. In Brazil, many unmanned underwater vehicles have been used in delicate, precise and risky tasks in the oil industry. Due to strategic economical interest, a Semi-Autonomous Underwater Vehicle (SAUV) is being developed at the Univ. of Săo Paulo (USP). This work presents the development of a Robust Control System, which will be embedded in the SAUV. The controller synthesis is based in a Tracking System fed by a State Estimator. The controller is able to keep the vehicle in a desired trajectory and also shows very good performance in activities involving Dynamic Positioning. To develop the controller, an interactive methodology was used, until a satisfactory performance level was reached, involving three main activities: modeling of the SAUV, controller synthesis and simulations of operation under normal and abnormal conditions. This work was written as partial fulfillment of requirements to obtain the MSc degree in Control Eng. at the Polytechnic School of USP, and it is now published worldwide to offer a contribution to scientific and industrial communities.

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About the book

Full name Optimal Control System for a Semi-Autonomous Underwater Vehicle

Author Daniel de Almeida Fernandes, Décio Crisol Donha

Language

English

Binding Book - Paperback

Date of issue 2010

Number of pages 116

EAN 9783639245455

ISBN 3639245458

Libristo code 06832134

Publishers VDM Verlag

Weight 181

Dimensions 152 x 229 x 7

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