DocumentCode
2603502
Title
Simulation and control of an autonomous underwater vehicle equipped with a vectored thruster
Author
Le Page, Y.G. ; Holappa, K.W.
Author_Institution
Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
2129
Abstract
A method for designing a simulation of an autonomous underwater vehicle (AUV) equipped with a vectored thruster is given. Fuzzy sliding mode controllers are implemented and a general description is provided that will help the reader to understand the principle, comparing it with a standard PID controller. Results obtained by numerical simulation are given
Keywords
fuzzy control; mobile robots; position control; underwater vehicles; variable structure systems; autonomous underwater vehicle; fuzzy sliding mode controllers; standard PID controller; vectored thruster; Control systems; Fuzzy control; Hydrodynamics; Nonlinear control systems; Oceans; Sliding mode control; Stability; Tail; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2000 MTS/IEEE Conference and Exhibition
Conference_Location
Providence, RI
Print_ISBN
0-7803-6551-8
Type
conf
DOI
10.1109/OCEANS.2000.882249
Filename
882249
Link To Document