Review of an Underwater Autonomous Vehicle (UAV) Control System and Selection Method Based on Desired Performance

Abstract

The present work was carried out within the tasks of the PID UNDEF No. 484/2019 where a light UAV was designed as an alternative to replace other similar vehicles. One of these tasks was the design of the UAV control system, for which different methods in use were reviewed and a method was proposed to select it based on the type of missions it would carry out and the desired performance. For this, a systematic review of the different control methods that are applied, their characteristics and the responses obtained by each of them was carried out. A comparison and evaluation of its performance was carried out, proposing a systematic selection method that would allow obtaining the control system with the best performance for the vehicle application. The method was contrasted with the results reported in different publications and the results obtained proved that the method used met the established requirements. The advantage of the proposed method is that the choice of the control system is made to optimize certain characteristics of the UAV's operation, depending on the vehicle and the type of task to be performed.

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