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Integrated robust controller for vehicle path following

โœ Scribed by Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

Book ID
121558262
Publisher
Springer
Year
2014
Tongue
English
Weight
969 KB
Volume
33
Category
Article
ISSN
1384-5640

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Robust and adaptive path following for underactuated autonomous underwater vehicles
โœ K.D. Do; J. Pan; Z.P. Jiang ๐Ÿ“‚ Article ๐Ÿ“… 2004 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 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.