Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

This paper deals with two nonlinear controllers based on saturation functions with varying parameters, for set-point regulation and trajectory tracking on an Underwater Vehicle. The proposed controllers combine the advantages of robust control and easy tuning in real applications. The stability of t...

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Veröffentlicht in:	Mechatronics (Oxford) 2017-08, Vol.45, p.49-59
Hauptverfasser:	Campos, E., Chemori, A., Creuze, V., Torres, J., Lozano, R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automatic Engineering Sciences Nonlinear PD and PD+ controller Real-time experiments Saturation Underwater vehicle
Online-Zugang:	Volltext
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