Submarine activities have increased steadily in the last forty years all over the world. In Brazil, many unmanned underwater vehicles have been used in delicate, precise and risky tasks in the oil industry. Due to strategic economical interest, a Semi-Autonomous Underwater Vehicle (SAUV) is being developed at the Univ. of Sao Paulo (USP). This work presents the development of a Robust Control System, which will be embedded in the SAUV. The controller synthesis is based in a Tracking System fed by a State Estimator. The controller is able to keep the vehicle in a desired trajectory and also...
Submarine activities have increased steadily in the last forty years all over the world. In Brazil, many unmanned underwater vehicles have been used i...
