Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bruzzone G., Veruggio G. Hovering and altitude control for open-frame UUVs. In: ICRA 1999 - IEEE International Conference on Robotics and Automation (Detroit (MI), USA, 10-15 May 1999). Proceedings, vol. 1 pp. 72 - 77. IEEE, 1999.
A two-layered hierarchical guidance and control architecture for UUVs has been integrated with a set of model-based motion estimators in order to enable the execution of high precision motion tasks in proximity of the seabed for scientific benthic applications. Preliminary tests, carried out in a high-diving pool, proved the system functionality, showing the high performances in terms of precision guaranteed by the use of PI-type guidance algorithms and combined estimation of the vehicle depth and altitude in hovering conditions.
DOI: 10.1109/ROBOT.1999.769933
Subject attitude control
closed loop systems
hierarchical systems
motion estimation
position control
remotely operated vehicles
two-term control
underwater vehicles

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