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 language | English (US) |
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Pages | 470-476 |
Number of pages | 7 |
State | Published - 1996 |
Event | Proceedings of the 1996 IEEE Symposium on Autonomous Underwater Vehicle Technology - Monterey, CA, USA Duration: Jun 2 1996 → Jun 6 1996 |
Other
Other | Proceedings of the 1996 IEEE Symposium on Autonomous Underwater Vehicle Technology |
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City | Monterey, CA, USA |
Period | 6/2/96 → 6/6/96 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Ocean Engineering