Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Jerzy Garus

doi:10.5604/0860889x.1224740

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Nonlinear Control of Underwater Robotic Vehicle in Plane Motion

Maritime Technical Journal

Volume 206 (2016): Issue 3 (September 2016)

By: Jerzy Garus

Open Access

|Sep 2016

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.

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