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Almost global feedack control of autonomous underwater vehicles

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Title: Almost global feedack control of autonomous underwater vehicles
Authors: Singh, Shashi Bhushan
Advisor: Chyba, Monique
Issue Date: 2009
Publisher: University of Hawaii at Manoa
Abstract: An Autonomous Underwater Vehicle (AUV) is expected to operate in an aquatic environment and compensate for poorly known disturbance forces and moments. Due to uncertain environment, it is difficult to apply an open-loop control scheme for tracking the desired trajectory. The objective of this thesis is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances.
Description: Plan B paper, M.A., Mathematics, University of Hawaii at Manoa, 2009
Pages/Duration: 97 pages
URI/DOI: http://hdl.handle.net/10125/25919
Rights: All UHM dissertations and theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission from the copyright owner.
Appears in Collections:M.A. Plan B Theses- Mathematics Department



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