A sensor-based controller for homing of underactuated AUVs

IEEE Transactions on Robotics

Volumn 25, Issue 3, 2009, Pages 701-716

  Batista, Pedro ^a   Silvestre, Carlos ^a   Oliveira, Paulo ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

Lyapunov methods; Mobile robots; Nonlinear systems; Position control; Underwater acoustic arrays; Underwater vehicle control; Underwater vehicles

Indexed keywords

BACKSTEPPING TECHNIQUE; EXTERNAL DISTURBANCES; FIXED TARGETS; GLOBAL ASYMPTOTIC STABILITY; GLOBALLY EXPONENTIALLY STABLE; GUIDANCE AND CONTROL; INTEGRATED GUIDANCE; LYAPUNOV-BASED CONTROL; POSITIONING SYSTEM; RANGE-BASED; THREE DIMENSIONS; TIME-DIFFERENCE; ULTRA-SHORT BASELINES; UNDERACTUATED; UNDERWATER VEHICLE CONTROL; UNDERWATER VEHICLES; UNIFORM ASYMPTOTIC STABILITY;

ACOUSTIC ARRAYS; ASYMPTOTIC ANALYSIS; ASYMPTOTIC STABILITY; AUTONOMOUS UNDERWATER VEHICLES; CONTROL SYSTEM SYNTHESIS; DYNAMICS; LYAPUNOV METHODS; MOBILE ROBOTS; NONLINEAR SYSTEMS; OCEAN CURRENTS; OCEAN ENGINEERING; POSITION CONTROL; SENSORS; SUBMERSIBLE MOTORS; SUBMERSIBLES; SYSTEM STABILITY; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

UNDERWATER ACOUSTICS;

EID: 67649294584     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2014496     Document Type: Article

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