Control Properties and Previous Work on Control of Ocean Vessels
In this chapter, first control properties of ocean vessels are presented. Then, the existing literature on the control of underactuated ocean vessels is reviewed. Through the review of the previous work in the areas of stabilization, trajectory-tracking, path-following, and output feedback control of underactuated ocean vessels, challenging questions are raised. Illustration of the background and process of solutions of those questions, as well as an explanation of the solutions in terms of their physical insights and practical applications are then presented in subsequent chapters.
KeywordsMobile Robot Underwater Vehicle Reference Trajectory Nonholonomic System Control Property
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