IEEE - Institute of Electrical and Electronics Engineers, Inc. - An exponentially convergent control law for a nonholonomic underwater vehicle

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Sordalen, O.J. ; Dalsmo, M. ; Egeland, O.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.292241
Regular:

A feedback control law is developed for an underwater vehicle described by a nonholonomic kinematic model. The inputs of the system are the three angular velocity components and the forward... View More

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