@inproceedings{69fc70120afe461da8b59a14b1f28402,
title = "Non-linear controller for non-linear model of hovering autonomous underwater vehicles",
abstract = "Non-linear controllers for attitude, altitude, and position of a Hovering Autonomous Underwater Vehicle (HAUV) non-linear model are presented The controllers allow the vehicle to reach any desired point in the horizontal and vertical planes. The controllers were applied to a small-sized, torpedo-shaped HAUV with six degrees of freedom The coupling between attitude and position makes the trajectory tracking control problem particularly hard. However, at least in the case of set-point control, it is possible to adopt a two decouple control strategy. A non-linear controller is applied for achieving attitude regulation, while a non-linear control strategy is used for achieving smooth motion back to the desired position coordinates. The performance of the proposed control scheme is evaluated numerically.",
keywords = "HAUV, Non-linear control, Robotic arm",
author = "Boris Braginsky and Hugo Guterman",
note = "Publisher Copyright: {\textcopyright} Copyright 2015 IEEE All rights reserved.; 2014 28th IEEE Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014 ; Conference date: 03-12-2014 Through 05-12-2014",
year = "2014",
month = jan,
day = "1",
doi = "10.1109/EEEI.2014.7005883",
language = "English",
series = "2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014",
address = "United States",
}