DocumentCode
596398
Title
A nonlinear task space tracking control of an underactuated underwater vehicle
Author
Mohan, Swati ; Yonghyun Kim ; Jinwhan Kim
Author_Institution
Discipline of Mech. Eng., Indian Inst. of Technol. Indore, Indore, India
fYear
2012
fDate
26-28 Nov. 2012
Firstpage
208
Lastpage
211
Abstract
This paper presents a new task space tracking control scheme for an underactuated underwater vehicle. The effectiveness and robustness of the proposed control scheme are demonstrated and discussed via numerical simulations. Simulation results show that the thruster configuration of the existing vehicle consisting of three control inputs is sufficient for controlling the underactuated underwater vehicle to track any given desired spatial task space trajectories.
Keywords
nonlinear control systems; numerical analysis; trajectory control; underwater vehicles; nonlinear task space tracking control; numerical simulations; spatial task space trajectory tracking; thruster configuration; underactuated underwater vehicle; Aerospace electronics; Robots; Space vehicles; Trajectory; Underwater vehicles; Vectors; self motion; task space control; tracking control; underactuated system; underwater vehicle;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location
Daejeon
Print_ISBN
978-1-4673-3111-1
Electronic_ISBN
978-1-4673-3110-4
Type
conf
DOI
10.1109/URAI.2012.6462976
Filename
6462976
Link To Document