Adaptive line-of-sight path following control for underactuated autonomous underwater vehicles in the presence of ocean currents
This article presents a nonlinear adaptive line-of-sight path following controller for underactuated autonomous underwater vehicles in the presence of ocean currents. Firstly, a new nonsingular path following error kinematic model in the Serret–Frenet frame is developed, where a nominal course angle...
| Päätekijät: | , , , , |
|---|---|
| Aineistotyyppi: | Artikkeli |
| Kieli: | English |
| Julkaistu: |
SAGE Publishing
2017-12-01
|
| Sarja: | International Journal of Advanced Robotic Systems |
| Linkit: | https://doi.org/10.1177/1729881417748127 |