Cross-track control of a slender, underactuated AUV using potential shaping

Ocean Engineering

Volumn 36, Issue 1, 2009, Pages 82-91

  Woolsey, C A ^a   Techy, L ^a  

^a Virginia Polytechnic Institute and State University   (United States)

Author keywords

AUV; Energy shaping; Guidance and control; Nonlinear stability

Indexed keywords

ASYMPTOTIC STABILITY; AUTONOMOUS UNDERWATER VEHICLES; CONTROL THEORY; CONVERGENCE OF NUMERICAL METHODS; DIFFERENTIAL EQUATIONS; ENERGY CONSERVATION; FUZZY CONTROL; LYAPUNOV FUNCTIONS; MATHEMATICAL MODELS; POWER CONTROL; SUBMERSIBLES; TELECOMMUNICATION NETWORKS; THREE DIMENSIONAL; UNDERWATER EQUIPMENT; WATER CRAFT;

ADDITIONAL CONTROLS; AUV; CONSERVED QUANTITIES; CONTROL LAWS; DIRECTIONAL CONTROLS; ENERGY SHAPING; GLOBAL CONVERGENCES; GUIDANCE AND CONTROL; LOCAL EXPONENTIAL STABILITIES; LYAPUNOV'S DIRECT METHODS; NONLINEAR STABILITY; NUMERICAL SIMULATIONS; PITCH MOMENTS; POTENTIAL SHAPING; ROLL AXIS; SPECTRAL STABILITIES; STABILIZATION PROBLEMS; SUFFICIENT CONDITIONS; TRACK CONTROLS; UNDER ACTUATED; VISCOUS FORCES; YAW MOMENTS;

ASYMPTOTIC ANALYSIS;

ALGORITHM; AUTONOMOUS UNDERWATER VEHICLE; COMPUTER SIMULATION; DYNAMIC ANALYSIS; POTENTIAL ENERGY; SHIP DESIGN; STABILIZATION; THREE-DIMENSIONAL MODELING;

EID: 58149518376     PISSN: 00298018     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.oceaneng.2008.07.010     Document Type: Article

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