DocumentCode
1528975
Title
Robust nonlinear motion control for AUVs
Author
Serrani, Andrea ; Conte, Giuseppe
Author_Institution
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Volume
6
Issue
2
fYear
1999
fDate
6/1/1999 12:00:00 AM
Firstpage
33
Abstract
We show how an efficient nonlinear controller for a general model of autonomous underwater vehicles (AUVs) dynamics, with uncertainties and external disturbances, can be designed by means of Lyapunov techniques. The control task we consider consists of tracking a given reference trajectory. As part of the design strategy, both model uncertainties and external disturbances physically corresponding to the effect of an underwater current are represented as a bounded perturbation of a nominal model of the vehicle dynamics
Keywords
Lyapunov methods; control system synthesis; dynamics; motion control; nonlinear control systems; robust control; tracking; underwater vehicles; Lyapunov techniques; autonomous underwater vehicles; dynamics; motion control; nonlinear control systems; robust control; trajectory tracking; underwater current; Acceleration; Angular velocity; Equations; Jacobian matrices; Kinematics; Motion control; Robust control; Space vehicles; Vectors; Vehicle dynamics;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/100.774926
Filename
774926
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