<abstract xmlns="http://www.w3.org/1999/xhtml"><p> A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint line-of-sight scheme and nonlinear PD control law are applied to calculate command signals. Parameters of the proposed control law are tuned using genetic algorithms. The validity and advantages of the approach are illustrated through numerical simulation results.</p></abstract>

A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint line-of-sight scheme and nonlinear PD control law are applied to calculate command signals. Parameters of the proposed control law are tuned using genetic algorithms. The validity and advantages of the approach are illustrated through numerical simulation results.

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Maritime Technical Journal

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Nonlinear Control of Underwater Robotic Vehicle in Plane Motion"}

A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint...

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Pubblicato online: 30 set 2016

Pagine: 15 - 23

DOI: https://doi.org/10.5604/0860889x.1224740

Parole chiave
underwater robot, autopilot, nonlinear control, genetic algorithms

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Pubblicato online: 30 set 2016

Pagine: 15 - 23

DOI: https://doi.org/10.5604/0860889x.1224740

Parole chiaveunderwater robot, autopilot, nonlinear control, genetic algorithms

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Parole chiave
underwater robot, autopilot, nonlinear control, genetic algorithms