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Autonomous underwater vehicles; modeling, control design, and simulation.


Autonomous underwater vehicles; modeling, control design, and simulation.

Wadoo, Sabiha and Pushkin Kachroo.

CRC Press


151 pages




Wadoo (electrical and computer engineering, New York Institute of Technology, Old Westbury) and Kachroo (transportation research, Harry Reid Center for Environmental Studies and electrical and computer engineering, U. of Nevada-Las Vegas) develop models that can be used to design motion planning and feedback control in robotic underwater vehicles. To deal with such difficulties as nonlinear dynamics, uncertain models, and the presence of disturbances that are difficult to measure or estimate, they develop a new approach to feedback control methodology that provides accurate trajectory control and point stabilization of drone submarines. They cover problem formulation and examples, mathematical modeling and controllability analysis, control design using the kinematic model, control design using the dynamic model, and robust feedback control design.

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Publication:Reference & Research Book News
Article Type:Book review
Date:Apr 1, 2011
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