DISTURBANCE-REJECTION CONTROL FOR THE HOVER AND TRANSITION MODES OF A NEGATIVE-BUOYANCY QUAD TILT-ROTOR AUTONOMOUS UNDERWATER VEHICLE

Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme.First, the structure of NQTAUV is illustrated, a mathematical model based Ski de fond - Accessoires - Fixations - Ska

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