Path following of underactuated autonomous underwater vehicles in the presence of ocean currents

@article{Caharija2012PathFO,
  title={Path following of underactuated autonomous underwater vehicles in the presence of ocean currents},
  author={Walter Caharija and Kristin Ytterstad Pettersen and Jan Tommy Gravdahl and Even B\orhaug},
  journal={2012 IEEE 51st IEEE Conference on Decision and Control (CDC)},
  year={2012},
  pages={528-535}
}
A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and acting in any direction of the inertial frame. The control technique is based on a modified three-dimensional Line-of-Sight (LOS) guidance law with two integrators and three feedback controllers. The integral effect is introduced to successfully counteract the drifting caused… CONTINUE READING
Highly Cited
This paper has 40 citations. REVIEW CITATIONS

2 Figures & Tables

Topics

Statistics

01020201620172018
Citations per Year

Citation Velocity: 7

Averaging 7 citations per year over the last 3 years.

Learn more about how we calculate this metric in our FAQ.