Robust and adaptive path following for underactuated autonomous underwater vehicles

Ocean Engineering

Volumn 31, Issue 16, 2004, Pages 1967-1997

  Do, K Duc ^a   Pan, J ^a   Jiang, Z P ^b  

^a UNIVERSITY OF WESTERN AUSTRALIA   (Australia)

^b POLYTECHNIC UNIVERSITY   (United States)

Author keywords

Adaptation; Cascade system; Nonlinear control; Parking; Path following; Point to point navigation; Robustness; Underactuated underwater vehicles

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); LYAPUNOV METHODS; MOTION PLANNING; NONLINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION; UNDERWATER EQUIPMENT;

ADAPTIVE PATH FOLLOWING; BACKSTEPPING TECHNIQUE; PARAMETER PROJECTION TECHNIQUE;

REMOTELY OPERATED VEHICLES;

ACTUATOR; AUTONOMOUS UNDERWATER VEHICLE; CONTROL SYSTEM; MATHEMATICAL MODELING; NAVIGATION;

AUTONOMOUS UNDERWATER VEHICLE; CONTROL SYSTEM; NAVIGATION; NUMERICAL MODEL;

EID: 4844225104     PISSN: 00298018     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.oceaneng.2004.04.006     Document Type: Article

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