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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2001

Autores

Aguiar, AP (Autor) Outra; Pascoal, AM (Autor) Outra

Ata de Conferência Internacional

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

Páginas: 4178-4183

40th IEEE Conference on Decision and Control

ORLANDO, FL, DEC 04-07, 2001

Indexação

ISI Web of Knowledge - 21 Citações

Scopus - 49 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6