Robust Polynomical Eigenstructure Assignment applied to an Unmanned Underwater Vehicle

摘要

The ever diverse and changing requirements demanded by commercial and military operations on Remotely Operated Vehicles (ROV) can be attributed to the need to explore deep seas, teh desire to remove man from the dangers of the undersea environment and reduction in operating cost. Typical functions performed by ROVs are the inspection of coastal and off-shore structures, recovery, cable laying, as well as geographical, oceanographic and arctic surveys. In the military environment they are employed in such roles as surveillance, intelligence gathering, torpedo recovery and mine coutner measures.