Minesniper
The flight control system of a minehunting ROV-type weapon developed by SIMRAD is presented. The system is separated into lightly interacting subsystems, and autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PI, forward loop and sliding mode techniques. The diving control system, using the battery-packet as actuator, is specially examined. Results from sea testing show performance and stability for the autopilots.
minehunting rov autopilot-design ballast actuator