Rachel J. Suitor

Dynamics and Control of a Buoyancy-Driven Underwater Vehicle for Estimating and Tracking the Scattering Layer

This letter presents the design of a control strategy for an autonomous buoyancy-driven underwater vehicle, called the Driftcam, tasked with estimating and tracking the pelagic acoustic-scattering layer at depths of up to 700 meters. This reference-tracking control design is an alternative to the on