Nonlinear tracking control of autonomous underwater vehicles
説明
Discusses 3D motion of underwater vehicles. The authors describe kinematics of an underwater vehicle by six state variables and four inputs, and use a Lyapunov-like function to develop a nonlinear tracking control scheme. The control method effectively makes use of the nonholonomic nature of the system. Simulation results agreed with the theoretical predictions and confirmed the usefulness of the proposed scheme. >
収録刊行物
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- Proceedings 1992 IEEE International Conference on Robotics and Automation
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Proceedings 1992 IEEE International Conference on Robotics and Automation 2003-01-02
IEEE Comput. Soc. Press