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Numerical Test of Several Controllers for Underactuated Underwater Vehicles

Institute of Automatic Control and Robotics, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland
Appl. Sci. 2020, 10(22), 8292; https://doi.org/10.3390/app10228292
Received: 9 November 2020 / Revised: 18 November 2020 / Accepted: 19 November 2020 / Published: 23 November 2020
This work is devoted to preliminary numerical tests of selected control strategies of underwater vehicles in the absence of a force applied to the side. The aim was to test the effectiveness of control algorithms for underwater vehicle models considered to be underactuated. Initially, the testing algorithm is used to obtain some information about the dynamics model. Several well-known control schemes for two underwater vehicles for two desired trajectories were selected and tested. The simulations made for the planar 3-DOF model of two underwater vehicles show the performance that can be achieved with each control algorithm according to the assumptions made. View Full-Text
Keywords: underactuated underwater vehicle; nonlinear control; simulation underactuated underwater vehicle; nonlinear control; simulation
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MDPI and ACS Style

Herman, P. Numerical Test of Several Controllers for Underactuated Underwater Vehicles. Appl. Sci. 2020, 10, 8292. https://doi.org/10.3390/app10228292

AMA Style

Herman P. Numerical Test of Several Controllers for Underactuated Underwater Vehicles. Applied Sciences. 2020; 10(22):8292. https://doi.org/10.3390/app10228292

Chicago/Turabian Style

Herman, Przemyslaw. 2020. "Numerical Test of Several Controllers for Underactuated Underwater Vehicles" Appl. Sci. 10, no. 22: 8292. https://doi.org/10.3390/app10228292

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