A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles
A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles
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Basel: MDPI AG
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English
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Basel: MDPI AG
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This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown t...
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Full title
A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles
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TN_cdi_doaj_primary_oai_doaj_org_article_e61087b01c754f5b912ba0211806f8f7
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_e61087b01c754f5b912ba0211806f8f7
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ISSN
2076-3417
E-ISSN
2076-3417
DOI
10.3390/app12178903
