Altitude Control Feasibility for a Seaweed Harvester
Gallieri, Marco and Ringwood, John (2010) 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 altitude measurement.
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