We show how an efficient nonlinear controller for a general model of autonomous underwater vehicles (AUVs) dynamics, with uncertainties and external disturbances, can be designed by means of Lyapunov techniques. The control task we consider consists of tracking a given reference trajectory. As part of the design strategy, both model uncertainties and external disturbances physically corresponding to the effect of an underwater current are represented as a bounded perturbation of a nominal model of the vehicle dynamics.


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    Titel :

    Robust nonlinear motion control for AUVs


    Beteiligte:
    Serrani, A. (Autor:in) / Conte, G. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1999


    Format / Umfang :

    6 Seiten, 13 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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