Mine avoidance and localization for underwater vehicles using continuous curvature path generation and non-linear tracking control
Many underwater vehicles have been designed to follow a straight path using linear approximations about that path. Tracking a dynamic path of arbitrary but continuous curvature may often be desired. This will require a nonlinear controller with enhanced robustness properties. One point of this thesi...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2013
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| Online Access: | http://hdl.handle.net/10945/26074 |