Path-following control of an AUV in the horizontal plane with constant ocean currents

Binggong Xuebao/Acta Armamentarii

Volumn 31, Issue 3, 2010, Pages 375-379

  Shi, Shu Wei ^a   Yan, Wei Sheng ^a   Gao, Jian ^a   Li, Wen Bai ^a  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

Author keywords

Constant ocean currents; Maritime engineering; Path following; Serret Frenet coordinates; Underactuated AUV

Indexed keywords

ASYMPTOTIC CONVERGENCE; BACKSTEPPING TECHNIQUE; DYNAMIC CONTROLLER; HORIZONTAL PATH; HORIZONTAL PLANES; KINEMATIC CONTROLLER; LYAPUNOV THEORIES; MARITIME ENGINEERING; PATH FOLLOWING; PATH FOLLOWING CONTROL; PATH TRACKING; REFERENCE POINTS; SERRET-FRENET COORDINATES; SIMULATED RESULTS; UNDERACTUATED;

ASYMPTOTIC ANALYSIS; CONTROLLERS; DYNAMIC MODELS; ERRORS; KINEMATICS;

OCEAN CURRENTS;

EID: 77952523891     PISSN: 10001093     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (8)

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