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Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using Lyapunov functions
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
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This paper addresses the problem of regulating the dynamic model of a nonholonomic underactuated autonomous underwater vehicle (AUV) to a point with a desired orientation. A time-invariant discontinuous controller is proposed that yields convergence of the trajectories of the closed-loop system in the presence of parametric modeling uncertainty. Controller design relies on a non smooth coordinate transformation in the original state space followed by the derivation of a Lyapunov-based,
doi:10.1109/cdc.2001.980841
fatcat:tux5h4sdfrhixcsnacak4zjt6i