Abstract This chapter extends the approach proposed for underactuated surface ships in Chapter 11 to design a path-following system for six degrees of freedom underactuated underwater vehicles. Although the control design is much more involved in comparison with that for underactuated surface ships in Chapter 11, it still guarantees that path-following errors asymptotically converge to a ball, with an adjustable radius, centered on a desired path, and covers both parking and point-to-point navigation problems.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path-following of Underactuated Underwater Vehicles


    Beteiligte:
    Do, Khac Duc (Autor:in) / Pan, Jie (Autor:in)


    Erscheinungsdatum :

    2009-01-01


    Format / Umfang :

    26 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Trajectory-tracking Control of Underactuated Underwater Vehicles

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    GEOMETRIC PATH FOLLOWING OF UNDERWATER VEHICLES

    Rober, Nicholas A. / Cichella, Venanzio | TIBKAT | 2021


    Geometric Path Following of Underwater Vehicles

    Rober, Nicholas A. / Cichella, Venanzio | AIAA | 2021


    Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles

    Belleter, Dennis Johannes Wouter / Braga, Jose / Pettersen, Kristin Ytterstad | BASE | 2019

    Freier Zugriff