Path-following of Underactuated Underwater Vehicles
This chapter extends the approach proposed for underactuated surface ships in Chapter 11 to design a path-following system for six degrees of freedom underactuated underwater vehicles. Although the control design is much more involved in comparison with that for underactuated surface ships in Chapter 11, it still guarantees that path-following errors asymptotically converge to a ball, with an adjustable radius, centered on a desired path, and covers both parking and point-to-point navigation problems.
KeywordsControl Design Control Objective Underwater Vehicle Environmental Disturbance Path Planner
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