Robust nonlinear motion control for AUVs

被引：19

作者：

Conte, G

Serrani, A

机构：

[1] Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA

[2] Univ Ancona, I-60128 Ancona, Italy

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 1999年 / 6卷 / 02期

关键词：

nonlinear control; robust control; autonomous underwater vehicles; disturbance attenuation;

D O I：

10.1109/100.774926

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Using Lyapunov techniques to design a controller that achieves reference tracking and disturbance attenuation in shallow water for a general model of autonomous underwater vehicles.

引用

页码：33 / +

页数：7

共 14 条

[1]

[Anonymous], 1961, STABILITY LIAPUNOVS

[2]

CONTE G, 1996, P 5 IEEE C CONTR APP

[3] CONTINUOUS STATE FEEDBACK GUARANTEEING UNIFORM ULTIMATE BOUNDEDNESS FOR UNCERTAIN DYNAMIC-SYSTEMS [J].

CORLESS, MJ ;

LEITMANN, G .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1981, 26 (05) :1139-1144

[4]

Dawson D. M., 1996, ROBUST TRACKING CONT

[5]

FJELLSTAD OE, 1994, IEEE J OCEANIC ENG, V19

[6]

Fossen T.I., 1991, THESIS NORWEGIAN I T

[7]

Fossen TI., 1994, Guidance and Control of Ocean Vehicles

[8]

*IARP, 1998, P 1 IARP INT WORKSH

[9]

Khalil H. K., 1995, NONLINEAR SYSTEMS

[10]

MARCO DB, 1996, P 6 IARP INT WORKSH

← 1 2 →