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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust nonlinear motion control for AUVs


    Contributors:
    Serrani, A. (author) / Conte, G. (author)

    Published in:

    Publication date :

    1999


    Size :

    6 Seiten, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Omnidirectional Motion Trajectory Tracking Control Method for AUVs

    Jiangpeng XU / Junlei WANG / Yi TANG | DOAJ | 2024

    Free access

    A Model Predictive Control Approach to AUVs Motion Coordination

    Lobo Pereira, Fernando / Borges de Sousa, J. / Gomes, R. et al. | Springer Verlag | 2014


    Robust singular perturbation control for 3D path following of underactuated AUVs

    Ming Lei / Ye Li / Shuo Pang | DOAJ | 2021

    Free access

    AUVS '95

    Online Contents | 1995


    Employing nonlinear observer for formation control of AUVs under communication constraints

    Das, Bikramaditya / Subudhi, Bidyadhar / Pati, Bibhuti Bhusan | Emerald Group Publishing | 2015