|
DSpace@nitr >
National Institue of Technology- Rourkela >
Journal Articles >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/1149
|
Full metadata record
| DC Field | Value | Language |
|---|
| contributor.author | Subudhi, B | - |
| contributor.author | Atta, D | - |
| date.accessioned | 2010-01-19T03:23:00Z | - |
| date.available | 2010-01-19T03:23:00Z | - |
| date.issued | 2009 | - |
| identifier.citation | Archives of Control Sciences,Volume 19(LV), 2009, No. 3, pages 245–259 | en |
| identifier.uri | http://hdl.handle.net/2080/1149 | - |
| description.abstract | This paper describes a tracking control strategy for an underactuated autonomous underwater vehicle (AUV) on a two dimensional plane ().Based on a smooth, inertial, 2D 2ℜreference trajectory curve, the proposed algorithm uses vehicle dynamics to generate the reference orientation and body-fixed velocities. Following these, required error dynamics are developed. Error dynamics are then stabilized using inverse dynamics control strategy, forcing the tracking error to an arbitrarily small neighborhood of zero. Circular path, as a constant velocity reference trajectory, has been chosen for simulation studies. Simulation results are included to demonstrate the tracking performance of the controller. | en |
| format.extent | 220908 bytes | - |
| format.mimetype | application/pdf | - |
| language.iso | en | - |
| publisher | ACS | en |
| subject | Kinematics, | en |
| subject | Reference Path, | en |
| subject | Tracking control, | en |
| subject | Inverse Dynamics Control | en |
| title | Design of a Path Following Controller for an Underactuated AUV | en |
| type | Article | en |
| Appears in Collections: | Journal Articles
|
Files in This Item:
| File |
Description |
Size | Format |
|---|
| subudhi.pdf | | 215Kb | Adobe PDF | View/Open |
|
Show simple item record
All items in DSpace are protected by copyright, with all rights reserved.
|
