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A switched controller for an underactuated underwater vehicle

DSpace at IIT Bombay

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Title A switched controller for an underactuated underwater vehicle
 
Creator SANKARANARAYANAN, V
MAHINDRAKAR, AD
BANAVAR, RN
 
Subject mechanical systems
stabilization
nonholonomic
underactuated
discontinuous stabilization
finite-time controllers
 
Description We present a switched control law for stabilizing 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. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law. (c) 2007
 
Publisher ELSEVIER SCIENCE BV
 
Date 2011-07-22T20:43:47Z
2011-12-26T12:52:34Z
2011-12-27T05:38:48Z
2011-07-22T20:43:47Z
2011-12-26T12:52:34Z
2011-12-27T05:38:48Z
2008
 
Type Article
 
Identifier COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 13(10), 2266-2278
1007-5704
http://dx.doi.org/10.1016/j.cnsns.2007.07.004
http://dspace.library.iitb.ac.in/xmlui/handle/10054/6352
http://hdl.handle.net/10054/6352
 
Language en