NDLI: Robust nonlinear motion control for AUVs

Content Provider	IEEE Xplore Digital Library
Author	Serrani, A. Conte, G.
Copyright Year	1994
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.
Starting Page	33
Ending Page	38
Page Count	6
File Size	532249
File Format	PDF
ISSN	10709932
Volume Number	6
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Motion control Angular velocity Vectors Space vehicles Jacobian matrices Kinematics Equations Vehicle dynamics Acceleration
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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Robust nonlinear motion control for AUVs