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A nonlinear task space tracking control of an underactuated underwater vehicle

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3 Author(s)
Mohan, S. ; Discipline of Mech. Eng., Indian Inst. of Technol. Indore, Indore, India ; Yonghyun Kim ; Jinwhan Kim

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.

Published in:

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Date of Conference:

26-28 Nov. 2012