Dynamic positioning of an underactuated auv in the presence of a constant unknown ocean current disturbance

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 283-288

  Aguiar, António Pedro ^a   Pascoal, António M ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

Autonomous underwater vehicles; Nonlinear adaptive control; Regulation; Underactuated systems

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; AUTOMATION; BACKSTEPPING; CLOSED LOOP SYSTEMS; CONTROLLERS; DYNAMIC POSITIONING; KINEMATICS; OCEAN CURRENTS; UNCERTAINTY ANALYSIS;

AUTONOMOUS UNDERWATER VEHICLES (AUV); CURRENT DISTURBANCES; EXPONENTIAL OBSERVERS; INTEGRATOR BACKSTEPPING; NON-LINEAR ADAPTIVE CONTROLS; NONLINEAR ADAPTIVE CONTROLLER; REGULATION; UNDER-ACTUATED SYSTEMS;

AUTONOMOUS UNDERWATER VEHICLES;

EID: 84945538413     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.01272     Document Type: Conference Paper

References (9)

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2. Aguiar, A. P. and A. M. Pascoal (2001a). Dynamic positioning of an underactuated auv in the presence of a constant unknown ocean current disturbance. Technical Report 0102. ISR/IST Institute for Systems and Robotics and Inst. Superior Técnico. Lisbon, Portugal.
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