Embedded system for controlling a mini underwater vehicle in autonomous hover mode

Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

“…Would the speed be higher, then quadratic damping would be taken into account and quadratic damping parameters should be computed by the same method, replacing each speed by its squared value. Given that the vehicle is moving slow and then, non diagonal terms of the damping matrix are neglected and only linear damping parameters have been estimated for this prototype, then D(ν) = diag{30, 70, 80, 1.4, 2.5, 2.9} (7) in ( N.s m ) (first three) and in ( N.s rad ) (last three).…”

“…Although many types of controllers have been studied during last decades, most of commercial underwater vehicles use PID controllers. For instance, PID control and acceleration feedback can be found in [5]; in [7] a PD controller considering the time-delay produced by the sensor has been proposed for an underwater vehicle. Nevertheless the drawback of these controllers is that they do not have a good performance when the parameters of the system change.…”

Depth control using artifitial vision with time-delay of an AUV

“…In previous work we developed an artificial vision algorithm to estimate the position and velocity of the submarine vehicle "Triton Pentarotor" with respect to the landmark, with the purpose of keeping the vehicle at a desired position, see [3] for more details.…”