Decoupled modelling and controller design for the hybrid autonomous underwater vehicle: MACO | Zendy

Jeff Kennedy | Zendy; Emmett Gamroth | Zendy; Colin Bradley | Zendy; AA Proctor | Zendy; GJ Heard | Zendy

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Decoupled modelling and controller design for the hybrid autonomous underwater vehicle: MACO

Author(s) -

Jeff Kennedy,

Emmett Gamroth,

Colin Bradley,

AA Proctor,

GJ Heard

Publication year - 2007

Publication title -

underwater technology the international journal of the society for underwater

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.229

H-Index - 19

eISSN - 1756-0551

pISSN - 1756-0543

DOI - 10.3723/175605407782724979

Subject(s) - underwater , controller (irrigation) , computer science , marine engineering , control theory (sociology) , control engineering , engineering , control (management) , geology , artificial intelligence , oceanography , agronomy , biology

Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle named MACO capable of 3 -D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this discussion.

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