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...
| Główni autorzy: | , , , , |
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| Format: | Artykuł |
| Język: | English |
| Wydane: |
SAGE Publishing
2017-12-01
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| Seria: | International Journal of Advanced Robotic Systems |
| Dostęp online: | https://doi.org/10.1177/1729881417748127 |