Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents

@article{Aguiar2007DynamicPA,
  title={Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents},
  author={Antonio Pedro Aguiar and Ant{\'o}nio Manuel Santos Pascoal},
  journal={Int. J. Control},
  year={2007},
  volume={80},
  pages={1092-1108}
}
This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of constant unknown ocean currents and parametric modeling uncertainty. A nonlinear adaptive controller is proposed that steers an AUV along a sequence of way-points consisting of desired positions (x, y) in a inertial reference frame, followed by vehicle positioning at the final target point. The controller is first derived at the kinematic level… CONTINUE READING
Highly Influential
This paper has highly influenced 13 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 159 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 106 extracted citations

160 Citations

01020'07'10'13'16
Citations per Year
Semantic Scholar estimates that this publication has 160 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 19 references

Modeling, control, and guidance of an autonomous underwater shuttle for the transport of benthic laboratories, Master’s thesis, Instituto Superior Técnico

  • A. P. Aguiar
  • In Portuguese
  • 1998

Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories

  • A. P. Aguiar, A. M. Pascoal
  • Proc. of the Oceans’97
  • 1997

Similar Papers

Loading similar papers…