This paper presents an overview of the state-of-the-art for underwater vehicle autopilots. We start by reviewing reference frames, vehicle states, typical control surfaces, equations of motion, the different coefficients and how they are obtained, and disturbance models as well. We then consider different possible configurations for the autopilot, including decoupled lateral and longitudinal loops, maneuver and waypoint control. Adaptive dynamic surface control of nonlinear tracking of a single underwater vehicle is designed with the corroboration with numerical simulations. Finally, we describe current hardware implementations for autonomous underwater vehicles.
We present and discuss a modular flight control system suitable for video tracking natural structures with Unmanned Air Vehicles (UAVs), like rivers, roads or canals. The control system is modeled in the framework of hybrid automata, where each state corresponds to different control algorithms. We implemented four nonlinear turn-rate control algorithms and compared them in a simulation environment to assess tracking performance.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.