{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T12:49:27Z","timestamp":1762865367390,"version":"3.38.0"},"reference-count":30,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[1997,8,1]],"date-time":"1997-08-01T00:00:00Z","timestamp":870393600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[1997,8]]},"abstract":"<jats:p> The design, implementation and experimental testing of a control system for an autonomous underwater vehicle (AUV) are described. The paper introduces the nonlinear dynamic model of a prototype AUV named MARIUS and formulates a general problem of vehicle control for precise manoeuvring in the vertical and horizontal planes. The methodology adopted for control system design is nonlinear gain-scheduled control, whereby a set of finite H-infinity controllers is scheduled on the vehicle speed. The paper summarises the basic design steps and decribes a new method for the practical implementation of nonlinear gain-scheduled control systems that avoids some of the pitfalls described in the literature. Experimental results obtained during the sea trials with the vehicle in Sines, Portugal, are presented and discussed. <\/jats:p>","DOI":"10.1177\/014233129701900303","type":"journal-article","created":{"date-parts":[[2007,11,27]],"date-time":"2007-11-27T01:29:58Z","timestamp":1196126998000},"page":"126-138","source":"Crossref","is-referenced-by-count":27,"title":["Control of an AUV in the vertical and horizontal planes: system design and tests at sea"],"prefix":"10.1177","volume":"19","author":[{"given":"C.","family":"Silvestre","sequence":"first","affiliation":[{"name":"Institute for Systems and Robotics and Department of Electrical Engineering, Instituto Superior T\u00e9cnico, Av Rovisco Pais, 1096 Lisboa Codex, Portugal"}]},{"given":"A.","family":"Pascoal","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics and Department of Electrical Engineering, Instituto Superior T\u00e9cnico, Av Rovisco Pais, 1096 Lisboa Codex, Portugal"}]}],"member":"179","published-online":{"date-parts":[[1997,8,1]]},"reference":[{"volume-title":"Lectures on Ship Hydrodynamics- Steering and Manoeuvrability","year":"1964","author":"Abkowitz, M.","key":"atypb1"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1007\/BF02551385"},{"volume-title":"Introduction to Robotics - 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