Geometric methods for robust stabilization of autonomous underwater vehicles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

In this paper we describe feedback stabilization strategies for autonomous underwater vehicles (AUV's) that are robust to uncertainties in hydrodynamic parameters. The approach uses geometric methods to exploit the structure of a six degree-of-freedom nonlinear dynamic vehicle model and avoids having to cancel or linearize nonlinearities.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology
PublisherIEEE
Pages470-476
Number of pages7
StatePublished - Jan 1 1996
EventProceedings of the 1996 IEEE Symposium on Autonomous Underwater Vehicle Technology - Monterey, CA, USA
Duration: Jun 2 1996Jun 6 1996

Other

OtherProceedings of the 1996 IEEE Symposium on Autonomous Underwater Vehicle Technology
CityMonterey, CA, USA
Period6/2/966/6/96

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Ocean Engineering

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  • Cite this

    Leonard, N. E. (1996). Geometric methods for robust stabilization of autonomous underwater vehicles. In Proceedings of the IEEE Symposium on Autonomous Underwater Vehicle Technology (pp. 470-476). IEEE.