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
fDate :
6/1/1999 12:00:00 AM
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
