“Minesniper”
Authors: B. Smestad,Affiliation: NAVTEK, Horten
Reference: 1996, Vol 17, No 1, pp. 27-35.
Keywords: Minehunting ROV, autopilot-design, ballast actuator
Abstract: The flight control system of a minehunting ROV-type weapon developed by SIMRAD is presented. The system is separated into lightly interacting subsystems, and autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PI, forward loop and sliding mode techniques. The diving control system, using the battery-packet as actuator, is specially examined. Results from sea testing show performance and stability for the autopilots.
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DOI: 10.4173/mic.1996.1.3References:
[1] FOSSEN, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons, Ltd, New York.
[2] HEALEY, A.J. LIENARD, D. (1993). Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles, IEEE Journal of Ocean Engineering, 18, no. 13, July.
[3] SLOTINE, J.-J.E. LI WEIPING (1991). Applied Nonlinear Control, Prentice-Hall International, New Jersey.
[4] SMESTAD, B.J. (1993). Control of Torpedo Shaped Underwater Vehicle, Final year dissertation at The Norwegian Institute of Technology.NTH, Department of Engineering Cybernetics, Dec. 1993.
BibTeX:
@article{MIC-1996-1-3,
title={{Minesniper}},
author={Smestad, B.},
journal={Modeling, Identification and Control},
volume={17},
number={1},
pages={27--35},
year={1996},
doi={10.4173/mic.1996.1.3},
publisher={Norwegian Society of Automatic Control}
};