IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear tracking control of autonomous underwater vehicles

Author(s): Nakamura, Y. ; Savant, S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220005
Regular:

Discusses 3D motion of underwater vehicles. The authors describe kinematics of an underwater vehicle by six state variables and four inputs, and use a Lyapunov-like function to develop a nonlinear... View More

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