3D path following for autonomous underwater vehicle

P. Encarnação; A. Pascoal

3D path following for autonomous underwater vehicle

P. Encarnação^*, A. Pascoal

^*Autor correspondente para este trabalho

Resultado de pesquisa › revisão de pares

198 Citações (Scopus)

Resumo

A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.

Idioma original	English
Páginas (de-até)	2977-2982
Número de páginas	6
Revista	Proceedings of the IEEE Conference on Decision and Control
Volume	3
Estado da publicação	Publicado - 2000
Publicado externamente	Sim
Evento	39th IEEE Confernce on Decision and Control - Sysdney, NSW Duração: 12 dez. 2000 → 15 dez. 2000

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http://www.scopus.com/inward/record.url?scp=0034439333&partnerID=8YFLogxK

Citação

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title = "3D path following for autonomous underwater vehicle",

abstract = "A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.",

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year = "2000",

language = "English",

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journal = "Proceedings of the IEEE Conference on Decision and Control",

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note = "39th IEEE Confernce on Decision and Control ; Conference date: 12-12-2000 Through 15-12-2000",

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TY - JOUR

T1 - 3D path following for autonomous underwater vehicle

AU - Encarnação, P.

AU - Pascoal, A.

PY - 2000

Y1 - 2000

N2 - A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.

AB - A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived.

UR - http://www.scopus.com/inward/record.url?scp=0034439333&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0034439333

SN - 0191-2216

VL - 3

SP - 2977

EP - 2982

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 39th IEEE Confernce on Decision and Control

Y2 - 12 December 2000 through 15 December 2000

ER -

3D path following for autonomous underwater vehicle

Resumo

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