A nonlinear control approach for trajectory tracking of slender-body axisymmetric underactuated underwater vehicles.
Lam-Hung NguyenMinh-Duc HuaTarek HamelPublished in: ECC (2019)
Keyphrases
- underwater vehicles
- trajectory tracking
- neural network controller
- closed loop
- control system
- sliding mode
- wheeled mobile robots
- dynamic model
- mechanical systems
- control law
- iterative learning control
- bi directional
- control method
- visual servoing
- variable structure
- motion planning
- computer simulation
- iterative learning
- receding horizon
- physical constraints
- stability analysis
- mobile robot
- pid controller
- mathematical models
- control strategy
- control theory
- control algorithm
- degrees of freedom
- lyapunov function
- adaptive control