<abstract xmlns="http://www.w3.org/1999/xhtml"><p> A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint line-of-sight scheme and nonlinear PD control law are applied to calculate command signals. Parameters of the proposed control law are tuned using genetic algorithms. The validity and advantages of the approach are illustrated through numerical simulation results.</p></abstract>

A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint line-of-sight scheme and nonlinear PD control law are applied to calculate command signals. Parameters of the proposed control law are tuned using genetic algorithms. The validity and advantages of the approach are illustrated through numerical simulation results.

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Maritime Technical Journal

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Nonlinear Control of Underwater Robotic Vehicle in Plane Motion"}

A control system supporting motion of an underwater robotic vehicle along a reference trajectory in the horizontal plane is presented in the paper. A waypoint...

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Published Online: Sep 30, 2016

Page range: 15 - 23

DOI: https://doi.org/10.5604/0860889x.1224740

Keywords
underwater robot, autopilot, nonlinear control, genetic algorithms

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Published Online: Sep 30, 2016

Page range: 15 - 23

DOI: https://doi.org/10.5604/0860889x.1224740

Keywordsunderwater robot, autopilot, nonlinear control, genetic algorithms

© 2018

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
underwater robot, autopilot, nonlinear control, genetic algorithms