Trajectory Tracking of the Cormoran AUV Based on a PI-MIMO Approach

@article{Valenciaga2007TrajectoryTO,
  title={Trajectory Tracking of the Cormoran AUV Based on a PI-MIMO Approach},
  author={Fernando Valenciaga and P. F. Puleston and Oscar Calvo and G. G. Acosta},
  journal={OCEANS 2007 - Europe},
  year={2007},
  pages={1-6}
}
This paper describes the control strategy developed for the Cormoran, a low cost ocean observing platform, hybrid between AUVs and ASVs. This robot moves slightly underneath the sea surface following a previously planned route and regularly dives to make vertical profiles of the water column. Obtained data is transmitted in real time to the laboratory and assimilated into a numerical coastal model. The control structure proposed in this article comprises a Navigation Block and a MIMO Control… CONTINUE READING