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A switched finite-time point-to-point control strategy for an underactuated underwater vehicle

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Title A switched finite-time point-to-point control strategy for an underactuated underwater vehicle
 
Creator SANKARANARAYANAN, V
MAHINDRAKAR, AD
BANAVAR, RN
 
Subject actuators
control system synthesis
remotely operated vehicles
controllability
 
Description We present a switched finite-time control law for the point-to-point control of an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of
control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. The methodology is demonstrated for one of the possible three
actuator configurations.
 
Publisher IEEE
 
Date 2009-06-12T09:42:20Z
2011-11-28T08:17:11Z
2011-12-15T09:57:33Z
2009-06-12T09:42:20Z
2011-11-28T08:17:11Z
2011-12-15T09:57:33Z
2003
 
Identifier Proceedings of the IEEE Conference on Control Applications (V 1), Istanbul, Turkey, 23-25 June 2003, 690-694
0 7803 7729 X
10.1109/CCA.2003.1223521
http://hdl.handle.net/10054/1473
http://dspace.library.iitb.ac.in/xmlui/handle/10054/1473
 
Language en