Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using lyapunov functions

• Type: Article in International Conference Proceedings Book
• Date: 2001

Authors

Aguiar, AP (Author) Other; Pascoal, AM (Author) Other

Conference proceedings International

Title: PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5

Pages: 4178-4183

40th IEEE Conference on Decision and Control

ORLANDO, FL, DEC 04-07, 2001

Indexing

ISI Web of Knowledge - 21 Citations

Scopus - 49 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-000-XR7

Abstract (EN): This paper addresses the problem of regulating the dynamic model of a nonholonomic underactuated autonomous underwater vehicle (AUV) to a point with a desired orientation. A time-invariant discontinuous controller is proposed that yields convergence of the trajectories of the closed-loop system in the presence of parametric modeling uncertainty. Controller design relies on a non smooth coordinate transformation in the original state space followed by the derivation of a Lyapunov-based, adaptive, smooth control law in the new coordinates. Convergence of the regulation system is analyzed and simulation results are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6