Title :
3D path following for autonomous underwater vehicle
Author :
Encarnação, P. ; Pascoal, A.
Author_Institution :
Dept. of Electr. Eng., Inst. Superior Tecnico, Lisbon, Portugal
Abstract :
A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived
Keywords :
mobile robots; nonlinear control systems; path planning; position control; robot dynamics; robot kinematics; underwater vehicles; 3D path following; autonomous underwater vehicle; convergence; dynamics; kinematics; nonlinear control; Aerodynamics; Control systems; Convergence; Kinematics; Mobile robots; Nonlinear dynamical systems; Remotely operated vehicles; Underwater vehicles; Vehicle dynamics; Virtual prototyping;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914272
