Referenced Items are not available for this document.
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
- Page(s):
- 208 - 211
- E-ISBN :
- 978-1-4673-3110-4
- Print ISBN:
- 978-1-4673-3111-1
- INSPEC Accession Number:
- 13326759
- Conference Location :
- Daejeon
- Digital Object Identifier :
- 10.1109/URAI.2012.6462976
- Product Type:
- Conference Publications
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