Title :
A switched finite-time point-to-point control strategy for an underactuated underwater vehicle
Author :
Sankaranarayanan, V. ; Mahindrakar, Arun D. ; Banavar, R.N.
Author_Institution :
Syst. & Control Eng., Indian Inst. of Technol., Mumbai, India
Abstract :
We present a switched finite-time control law for the point-to-point control of 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. The methodology is demonstrated for one of the possible three actuator configurations.
Keywords :
control system synthesis; optimal control; position control; stability; underwater vehicles; actuator configurations; control actions; control system synthesis; neutrally buoyant condition; point-to-point control; stability; switched finite-time control law; switched finite-time controller; underactuated underwater vehicle; Actuators; Control engineering; Control systems; Drag; Hydrodynamics; Mobile robots; Position control; Transmission line matrix methods; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223521
