Controlador ILOS para el seguimiento de caminos en línea recta de un vehículo autónomo subacuático

  1. Yunier Valeriano-Medina
  2. Anailys Hernández-Julián
  3. Luis Hernández Santana
Journal:
Revista Científica de Ingeniería Electrónica, Automática y Comunicaciones

ISSN: 0258-5944,  1815-5928

Year of publication: 2015

Volume: 36

Issue: 2

Pages: 15-28

Type: Article

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More publications in: Revista Científica de Ingeniería Electrónica, Automática y Comunicaciones

Abstract

Autonomous underwater vehicles (AUV) represents a topic of great interest to the scientific community worldwide. The guidance system is vital for the development of tasks without human intervention. In this research is designed a type PI controller for tracking paths straight from the HRC-AUV (vehicle used in this research), reducing the tracking error perpendicular to the path despite the effect of sea disturbances. The adjustment of gains of the controller is made based on the geometry of the way forward and the characteristics of the vehicle. The validity of the proposal is found through simulation, which is confirmed that the controller ILOS performance exceeds that of the strategy is implemented at present in the vehicle.

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