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https://dspace.iiti.ac.in/handle/123456789/6873
| Title: | A nonlinear task space tracking control of an underactuated underwater vehicle |
| Authors: | Mohan, Santhakumar |
| Keywords: | Self motion;Task-space control;Tracking controls;Under-actuated systems;Underwater vehicles;Artificial intelligence;Navigation;Space flight;Vehicles |
| Issue Date: | 2012 |
| Citation: | Mohan, S., Kim, Y., & Kim, J. (2012). A nonlinear task space tracking control of an underactuated underwater vehicle. Paper presented at the 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012, 208-211. doi:10.1109/URAI.2012.6462976 |
| Abstract: | This paper presents a new task space tracking control scheme for an underactuated underwater vehicle. The effectiveness and robustness of the proposed control scheme are demonstrated and discussed via numerical simulations. Simulation results show that the thruster configuration of the existing vehicle consisting of three control inputs is sufficient for controlling the underactuated underwater vehicle to track any given desired spatial task space trajectories. Copyright © 2012 IEEE. |
| URI: | https://doi.org/10.1109/URAI.2012.6462976 https://dspace.iiti.ac.in/handle/123456789/6873 |
| ISBN: | 9781467331104 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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