Title :
A nonlinear task space tracking control of an underactuated underwater vehicle
Author :
Mohan, Swati ; Yonghyun Kim ; Jinwhan Kim
Author_Institution :
Discipline of Mech. Eng., Indian Inst. of Technol. Indore, Indore, India
Abstract :
This paper presents a new task space tracking control scheme for an underactuated underwater vehicle. The effectiveness and robustness of the proposed control scheme are demonstrated and discussed via numerical simulations. Simulation results show that the thruster configuration of the existing vehicle consisting of three control inputs is sufficient for controlling the underactuated underwater vehicle to track any given desired spatial task space trajectories.
Keywords :
nonlinear control systems; numerical analysis; trajectory control; underwater vehicles; nonlinear task space tracking control; numerical simulations; spatial task space trajectory tracking; thruster configuration; underactuated underwater vehicle; Aerospace electronics; Robots; Space vehicles; Trajectory; Underwater vehicles; Vectors; self motion; task space control; tracking control; underactuated system; underwater vehicle;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462976
