Pointing Control Design for Autonomous Space Vehicle Applications

OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

optimized fuzzy control design of an autonomous underwater vehicle

in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...

A Design Pattern for Autonomous Vehicle Software Control Architectures

Design patterns represent a generalized approach to solving a related set of problems. Typically, a design pattern does not provide reusable code. Instead it provides a common vocabulary and a generalized approach in an application-independent manner. We have developed a design pattern for use in controlling autonomous vehicles. The control of individual components within an autonomous vehicle ...

Autonomous Underwater Vehicle Model for Underactuated Control Design and Path Following Applications

A manoeuvring model and a design technique for path following applications of underactuated underwater vehicles are summarized. The model applies to slender body autonomous underwater vehicles (AUV) of cylindrical shape employing similar types of steering and diving control surfaces, and is meant for low speed manoeuvring applications. The underactuated design procedure used to successfully sol...

Advanced Autonomous Vehicle Design for Severe Environments