Autonomous Underwater Vehicles: Modeling, Control Design and Simulation (Hardcover)

Introduction

Overview

Examples of Underwater Vehicles Construction

Vehicle Kinematics Fundamentals

Lie Groups and Lie Algebras

Problem Formulation and Examples

Motion Planning of Nonholonomic Systems

Nonholonomic Constraints

Problem Description

Control Model Formulation

Controllability Issues

Stabilization

Examples of Nonholonomic Systems

Mathematical Modeling and Controllability Analysis

Mathematical Modeling

Controllability Analysis

Chained Forms

Control Design Using the Kinematic Model

Trajectory Tracking and Controller Design for the Chained Form

Reference Trajectory Generation

Control Using Approximate Linearization

Control Using Exact Feedback Linearization via State and Input Transformations

Point-to-Point Stabilization

Control Design Using the Dynamic Model

Dynamic Modeling

Point-to-Point Stabilization Control Design

Robust Feedback Control Design

Robust Control Using the Kinematic Model

Robust Control Using the Dynamic Model