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Robust nonlinear motion control for AUVs

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2 Author(s)
Serrani, A. ; Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA ; Conte, G.

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

Published in:

Robotics & Automation Magazine, IEEE  (Volume:6 ,  Issue: 2 )