A switched controller for an underactuated underwater vehicle |
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| Authors: | V Sankaranarayanan Arun D Mahindrakar Ravi N Banavar |
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| Institution: | aSystems and Control Engineering, Indian Institute of Technology Bombay, Mumbai 400 076, India;bDepartment of Electrical Engineering, Indian Institute of Technology Madras, Chennai 600 036, India |
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| Abstract: | We present a switched control law for stabilizing an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law. |
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| Keywords: | Nonholonomic Underactuated Discontinuous stabilization Finite-time controllers |
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