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.
Robust nonlinear motion control for AUVs
IEEE Robotics and Automation Magazine ; 6 , 2 ; 33-38
1999
6 Seiten, 13 Quellen
Article (Journal)
English
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