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dc.contributor.authorBorlaug, Ida-Louise Garmann
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2019-10-04T11:32:46Z
dc.date.available2019-10-04T11:32:46Z
dc.date.created2019-10-01T14:26:33Z
dc.date.issued2019
dc.identifier.citationAmerican Control Conference (ACC). 2019, 5705-5712.nb_NO
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/11250/2620326
dc.description.abstractThe articulated intervention AUV (AIAUV) is an underwater swimming manipulator (USM) with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to move in confined spaces and to perform intervention tasks. In this paper we propose using the generalized super twisting algorithm, which is an extension of the regular super-twisting algorithm, for the trajectory tracking of the joint angles, position and orientation of the base of the AIAUV in 6DOF. Furthermore, we show the ultimate boundedness of the tracking errors. We also demonstrate the applicability of the proposed control law and compare the performance with the regular super-twisting algorithm with adaptive gains.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.titleTracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithmnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber5705-5712nb_NO
dc.source.journalAmerican Control Conference (ACC)nb_NO
dc.identifier.cristin1732467
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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