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A nonlinear bottom-following controller for underactuated autonomous underwater vehicles

✍ Scribed by He-ming Jia; Li-jun Zhang; Xin-qian Bian; Zhe-ping Yan; Xiang-qin Cheng; Jia-jia Zhou

Book ID
113090319
Publisher
Central South University
Year
2012
Tongue
English
Weight
557 KB
Volume
19
Category
Article
ISSN
2095-2899

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Robust and adaptive path following for underactuated autonomous underwater vehicles
✍ K.D. Do; J. Pan; Z.P. Jiang πŸ“‚ Article πŸ“… 2004 πŸ› Elsevier Science 🌐 English βš– 383 KB

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters.