Gallieri, Marco and Ringwood, John
Altitude Control Feasibility for a Seaweed Harvester.
In: IEEE International Conference on Industrial Technology (ICIT), March, 2010, Valparaiso, Chile.
In this paper, the feasibility of the altitude control of
a seaweed harvester is examined. The harvesting system consists
of a vessel and a suspended harvester device, the altitude of
which is controlled by a winch. The goal of the control action
is to maintain the harvester at a constant altitude with respect
to the seabed profile. A control strategy is proposed, including a
vessel motion feed-forward action, using a motion reference unit
(MRU), and an altitude feedback loop, using a sonar device for
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