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Title A switched finite-time point-to-point control strategy for an underactuated underwater vehicle
 
Names SANKARANARAYANAN, V
MAHINDRAKAR, AD
BANAVAR, RN
Date Issued 2003 (iso8601)
Abstract 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.
Topic Actuators
Identifier Proceedings of the IEEE Conference on Control Applications (V 1), Istanbul, Turkey, 23-25 June 2003, 690-694