Autonomous Underwater Vehicles: Modeling, Control Design and Simulation

ISBN-13: 9781439818312 / Angielski / Twarda / 2010 / 165 str.

Pushkin Kachroo;Sabiha Wadoo

Opis

Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous underwater vehicles: modeling, control design, and simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design.

Spis treści

Introduction. Problem Formulation and Examples. Mathematical Modeling and Controllability Analysis. Control Design Using the Kinematic Model. Control Design Using the Dynamic Model. Robust Feedback Control Design.