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Minimum Speed Seeking Control for Nonhovering Autonomous Underwater Vehicles

You Hong Eng, Mandar Chitre, Kien Ming Ng, Kwong Meng Teo
2015 Journal of Field Robotics  
For this class of nonhovering AUVs, there is a minimum speed at which the AUV must travel for stable depth control.  ...  Most autonomous underwater vehicles (AUVs) are propelled by a single thruster, use elevators and rudders as control surfaces, and are torpedo-shaped.  ...  .: Minimum Speed Seeking Control for Non-hovering Autonomous • Effective fin angles δ se . Table I . I Simulation parameters.  ... 
doi:10.1002/rob.21625 fatcat:gv4d7eqgifa3zhb7uy3est2ydu