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Region reaching controller for Autonomous Underwater Vehicle without velocity measurement | IEEE Conference Publication | IEEE Xplore

Region reaching controller for Autonomous Underwater Vehicle without velocity measurement


Abstract:

This paper addresses the problem of region reaching by using the concept of potential energy of the specified region, for an Autonomous Underwater Vehicle (AUV). The six ...Show More

Abstract:

This paper addresses the problem of region reaching by using the concept of potential energy of the specified region, for an Autonomous Underwater Vehicle (AUV). The six degrees of freedom AUV model has been exploited with Euler angle representation. The control law incorporates high filtered version of position error to regulate the system without velocity measurement. The proposed control law ensures stability in Lyapunov sense and simulation results shows the convergence of positional error.
Date of Conference: 17-19 July 2013
Date Added to IEEE Xplore: 02 December 2013
Electronic ISBN:978-3-033-03962-9
Conference Location: Zurich, Switzerland

References

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