Control of an underactuated remotely operated underwater vehicle

Abstract In this paper, a steady state model of a thruster and a general equation of rigid-body motion for an underwater robotic vehicle (URV) is presented. By means of modelling, simulation and experiments, the model parameters have been identified. These are used in the analysis and design of clos...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2003-08, Vol.217 (5), p.343-358
Hauptverfasser:	Lau, M W S, Swei, S S M, Seet, G, Low, E, Cheng, P L
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Controllers Degrees of freedom Liapunov direct method Linear systems Mechanical engineering Nonlinear control Nonlinear systems Parameter identification Proportional integral derivative Remote control Remotely operated vehicles Rigid-body dynamics Robotic vehicles Stability Steady state models Swimming Underwater robots Underwater vehicles Yaw
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