Reduced Attitude Control of a Robotic Underwater Vehicle

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43931912" target="_blank" >RIV/49777513:23520/17:43931912 - isvavai.cz</a>
Result on the web
<a href="https://www.matec-conferences.org/articles/matecconf/abs/2017/09/matecconf_icmme2017_08012/matecconf_icmme2017_08012.html" target="_blank" >https://www.matec-conferences.org/articles/matecconf/abs/2017/09/matecconf_icmme2017_08012/matecconf_icmme2017_08012.html</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1051/matecconf/20179508012" target="_blank" >10.1051/matecconf/20179508012</a>

Result language
angličtina
Original language name
Reduced Attitude Control of a Robotic Underwater Vehicle
Original language description
This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an over-actuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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