G. PARLANGELI

The issue of designing smooth planar paths with maximum curvature and curvature derivative constraints is addressed. The proposed solution can be used to build C^infty class reference paths for marine vehicles linking a set of via points while guaranteeing bounded curvature and curvature derivative.

The use of mono-directional thrusters on under- water vehicle poses interesting issues on actuator allocation, fault detection and accommodation. Preliminary results relative to the horizontal motion of an unhabited underwater vehicle (UUV) are presented.

The objective of the low level control system of marine vehicles is to generate a desired thrust in the face of environmental disturbances and modelling uncertainties. The control objective of standard low level control solutions is the propeller angular speed that is assumed to be related to the produced thrust through a known hydrodynamic...

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