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.
Path-following of Underactuated Underwater Vehicles
01.01.2009
26 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Robust and adaptive path following for underactuated autonomous underwater vehicles
Tema Archiv | 2004
|TIBKAT | 2017
|Path Following Backstepping Control of Underactuated Unmanned Underwater Vehicle
British Library Conference Proceedings | 2015
|British Library Online Contents | 2018
|