Non-linear controller for non-linear model of hovering autonomous underwater vehicles

Boris Braginsky, Hugo Guterman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

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.

Original languageEnglish
Title of host publication2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479959877
DOIs
StatePublished - 1 Jan 2014
Event2014 28th IEEE Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014 - Eilat, Israel
Duration: 3 Dec 20145 Dec 2014

Publication series

Name2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014

Conference

Conference2014 28th IEEE Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014
Country/TerritoryIsrael
CityEilat
Period3/12/145/12/14

Keywords

  • HAUV
  • Non-linear control
  • Robotic arm

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