A Bottom-Following Preview Controller for Autonomous Underwater Vehicles

  title={A Bottom-Following Preview Controller for Autonomous Underwater Vehicles},
  author={Carlos Silvestre and Rita Cunha and Nuno Paulino and Ant{\'o}nio Manuel Santos Pascoal},
  journal={Proceedings of the 45th IEEE Conference on Decision and Control},
The paper addresses the problem of bottom-following for autonomous underwater vehicles by taking into account the terrain characteristics ahead of the vehicle, as measured by two echo sounders. The methodology used to solve this problem amounts to posing it as a discrete time path following control problem where a conveniently defined error state space model of the plant is augmented with bathymetric (i.e. depth) preview data. A piecewise affine parameter-dependent model representation is used… CONTINUE READING
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