Minimum Energy Based Fine Motion Control of Underwater Robots in the Presence of Thruster Nonlinearity

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 559-564

  Hanai, A ^a   Choi, H T ^a   Choi, S K ^a   Yuh, J ^a  

^a University of Hawaii at Manoa   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEAD ZONES; UNDERWATER ROBOTS;

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); GEOMETRY; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; NONLINEAR SYSTEMS; REMOTELY OPERATED VEHICLES; VECTORS;

ROBOTICS;

EID: 0346780156     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. J. Yuh, Ed., Underwater Robotic Vehicles: Design and Control. New Mexico: TSI Press., 1995.
2. S. Choi and J. Yuh, Eds., Underwater Vehicle Technology. New Mexico: TSI Press., 2002.
3. S. Choi and J. Yuh, "Development of the Omul-Directional Intelligent Navigator," IEEE Robotics and Automation Magazine, vol. 2, 1995.
4. K. Yang, J. Yuh, and S. Choi, "Fault-Tolerant System Design of an Autonomous Underwater Vehicle - ODIN: an Experimental Study," International Journal of Systems Science, vol. 30, no. 9, pp. 1011-1019, 1999.
5. J. Yuh and S. Choi, "Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM)," Sea Technology, 1999.
6. A. Healey, S. Rock, S. Cody, D. Miles, and J. Brown, "Toward an Improved Understanding of Thruster Dynamics for Underwater Vehicles," in OCEANS'94.
7. K. Valavanis, D. Gracanin, M. Madjasevic, R., Kolluru, and G. Demetriou, "Control architectures for autonomous underwater vehicles," IEEE Control Systems Magazine, vol. 17, no. 6, pp. 48-64, 1997.
8. T. I. Fossen, Guidance and Control of Ocean Vehicles. Chichester: John Wiley & Sons, 1994.
9. G. Strang, Introduction to Linear Algebra. Wellesley Cambridge Press, 1998.
10. Y. Nakamura, Advanced Robotics Redundancy and Optimization. Addison-Wesley, 1991.