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A nonlinear task space tracking control of an underactuated underwater vehiclePublished in IEEE
2012
Pages: 208 - 211
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. Copyright © 2012 IEEE.
Topics: Underactuation (56)%56% related to the paper
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About the journal
| Journal | 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012 |
|---|---|
| Publisher | IEEE |
| Open Access | No |
Authors (1)
Santhakumar Mohan- A Robust Motion Control Scheme of an Underwater Robot with Tiltable Thrusters
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