| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 759568 | Communications in Nonlinear Science and Numerical Simulation | 2008 | 13 Pages |
Abstract
We present a switched control law for stabilizing an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law.
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Mechanical Engineering
Authors
V. Sankaranarayanan, Arun D. Mahindrakar, Ravi N. Banavar,