Robust and adaptive path following for underactuated autonomous underwater vehicles
Robust and adaptive path following for underactuated autonomous underwater vehicles
- Neue Suche nach: Do, K. Duc
- Neue Suche nach: Pan, J.
- Neue Suche nach: Jiang, Z.P.
- Neue Suche nach: Do, K. Duc
- Neue Suche nach: Pan, J.
- Neue Suche nach: Jiang, Z.P.
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters. The proposed controller is designed using Lyapunov's direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.
Dokumentinformationen
Robust and adaptive path following for underactuated autonomous underwater vehicles
Ocean Engineering ; 31 , 16 ; 1967-1997
2004
31 Seiten, 36 Quellen
Aufsatz (Zeitschrift)
Englisch
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