Title :
Nonholonomic motion control of an autonomous underwater vehicle
Author :
Nakamur, Yoshihiko ; Savant, Shrikant
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
A submersible can carry limited supply of fuel onboard. Use of control planes along with propeller for major part of its motion can conserve much energy; thus extending the duration of underwater missions. Such an underwater vehicle has nonholomic nature due to its nonlinear kinematic structure. The authors describe the kinematics of an underwater vehicle by six state variables and four inputs, and use a Lyapunov-like function to develop a nonlinear feedback control scheme. Effectiveness of the nonlinear control scheme was verified through numerical simulation
Keywords :
Lyapunov methods; feedback; kinematics; marine systems; mobile robots; nonlinear control systems; position control; stability; Lyapunov-like function; autonomous underwater vehicle; controllability; kinematic motion; mobile robots; nonholonomic motion control; nonlinear feedback control; nonlinear kinematic structure; Automatic control; Kinematics; Marine vehicles; Motion control; Motion planning; Oceans; Remotely operated vehicles; Service robots; Sliding mode control; Underwater vehicles;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174672
