Advertisement

Path-following of Underactuated Underwater Vehicles

Part of the Advances in Industrial Control book series (AIC)

Abstract

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.

Keywords

Control Design Control Objective Underwater Vehicle Environmental Disturbance Path Planner 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag London Limited 2009

Personalised recommendations