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http://dx.doi.org/10.5394/KINPR.2004.28.6.469

A Posture Control for Underwater Vehicle with Nonholonomic Constraint  

Nam, Taek-Kun (목포해양대학교 기관시스템공학부)
Kim, Chol-Seong (목포해양대학교 해상운송시스템학부)
Publication Information
Journal of Navigation and Port Research / v.28, no.6, 2004 , pp. 469-474 More about this Journal
Abstract
In this paper, we study the posture control of an underwater vehicle with nonholonomic constraint. Generally, systems with nonholnomic constraints cannot be stabilized to an equilibrium points by smooth state feedback control. For the nonholonomic underwater vehicle system, we applied coordinate transformation to get multi-chained system We proposed non smooth feedback controller using backstepping method for stabilizing the multi chained form system Applying inverse input transformation to the non smooth feedback controller, we can get posture controller of the underwater vehicle with nonholonomic constraint. The proposed control scheme is applied to the posture control qf an underwater vehicle and verified the effectiveness of control strategy by numerical simulation.
Keywords
Underwater vehicle; nonholonomic constraints; multi-chained form; backstepping control;
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