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Feedback Control of an Underwater Vehicle: Trajectory Tracking

Sabiha Amin Wadoo*, Pushkin Kachroo**

*Assistant Professor, NewYork Institute of Technology, OldWestbury, NewYork, USA.

** Associate Professor [Visiting), University of Nevada, LasVegas, Nevada, USA.

Periodicity:October - December'2007
DOI : https://doi.org/10.26634/jee.1.2.433

Abstract

In this paper we consider and solve the motion planning problem for an underwater vehicle. The nonlinear control system is referred to as nonholonomic system due to nonintegrability of its generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. Controllability results for this nonholonomic system are presented. The paper presents design of a feedback control law for the trajectory tracking. For the design of feedback controller, the system is transformed into chained form. The work presented in this paper is a step towards the study concerning the applicability of kinematic-based control on underwater vehicles.

Keywords

Nonholononmic systems, chained form , controllability, trajectory tracking, feedback control, kinematic system.

How to Cite this Article?

Sabiha Amin Wadoo and Pushkin Kachroo (2007). Feedback Control of an Underwater Vehicle: Trajectory Tracking. i-manager’s Journal on Electrical Engineering, 1(2), Oct-Dec 2007, Print ISSN 0973-8835, E-ISSN 2230-7176, pp. 14-29. https://doi.org/10.26634/jee.1.2.433

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