Published Online: Sep 30, 2016
Page range: 15 - 23
DOI: https://doi.org/10.5604/0860889x.1224740
Keywords
© 2018
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.
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.