Title of article
A switched controller for an underactuated underwater vehicle
Author/Authors
Sankaranarayanan، نويسنده , , V. and Mahindrakar، نويسنده , , Arun D. and Banavar، نويسنده , , Ravi N.، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2008
Pages
13
From page
2266
To page
2278
Abstract
We present a switched control law for stabilizing an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law.
Keywords
nonholonomic , Underactuated , Discontinuous stabilization , Finite-time controllers
Journal title
Communications in Nonlinear Science and Numerical Simulation
Serial Year
2008
Journal title
Communications in Nonlinear Science and Numerical Simulation
Record number
1533910
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