Title :
Nonlinear tracking control of autonomous underwater vehicles
Author :
Nakamura, Yoshihiko ; Savant, Shrikant
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
Discusses 3D motion of underwater vehicles. The authors describe kinematics of an underwater vehicle by six state variables and four inputs, and use a Lyapunov-like function to develop a nonlinear tracking control scheme. The control method effectively makes use of the nonholonomic nature of the system. Simulation results agreed with the theoretical predictions and confirmed the usefulness of the proposed scheme
Keywords :
kinematics; marine systems; mobile robots; nonlinear control systems; stability; 3D motion; Lyapunov-like function; autonomous underwater vehicles; kinematics; nonholonomic nature; nonlinear tracking control; state variables; Automatic control; Kinematics; Marine vehicles; Mining industry; Motion control; Oceans; Petroleum; Underwater tracking; Underwater vehicles; Water resources;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220005
