کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1727139 1520768 2009 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Decoupled PD set-point controller for underwater vehicles
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
Decoupled PD set-point controller for underwater vehicles
چکیده انگلیسی

A set-point controller for autonomous underwater vehicles (AUVs) is proposed in this paper. The controller is expressed in transformed equations of motion with a diagonal inertia matrix. It takes into account the dynamics of the system and it can be applied for fully actuated AUVs. The stability of the designed control law is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller are considered too. The performance of the proposed controller is validated via simulation on a 6-DOF underwater vehicle.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 36, Issues 6–7, May 2009, Pages 529–534
نویسندگان
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