Robust nonlinear motion control for AUVs
Serrani, A.
Conte, G.
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO;
This paper appears in: Robotics & Automation Magazine, IEEE
Publication Date: Jun 1999
Volume: 6,
Issue: 2
On page(s): 33-38, 62
ISSN: 1070-9932
References Cited: 13
CODEN: IRAMEB
INSPEC Accession Number: 6301080
Digital Object Identifier: 10.1109/100.774926
Current Version Published: 2002-08-06
Abstract
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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