@conference {102,
	title = {Trajectory tracking of the cormoran AUV based on a PI-MIMO approach},
	booktitle = {OCEANS 2007 - Europe},
	year = {2007},
	abstract = {<p>This paper describes the control strategy developed for the Cormoran, a low cost ocean observing platform, hybrid between AUVs and ASVs, This robot moves slightly underneath the sea surface following a previously planned route and regularly dives Lo make vertical profiles of the water column. Obtained data is transmitted in real time to the laboratory and assimilated into a numerical coastal model. The control structure proposed in this article comprises a Navigation Block and a MIMO Control Block. The former is based on a following Lyapunov-based algorithm and computes on-line the reference signals required by the latter to reach and robustly track the desired trajectory. The MIMO Control Block architecture is based on a PI-MIMO control strategy that commands the rudder and the propeller. Computer simulations utilizing a dynamic model of the Cormoran and realistic disturbances are presented. {\^A}{\textcopyright} 2007 IEEE.</p>
},
	doi = {10.1109/ICELMACH.2008.4799959},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-36349021879\&partnerID=40\&md5=717cb63ba05095647e2388f98657956a},
	author = {Valenciaga, Fernando and Puleston, Pablo F. and Calvo, Oscar and Acosta, Gerardo}
}
