- 期刊
Robust Adaptive Motion Control with Environmental Disturbance Rejection for Perturbed Underwater Vehicles
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並列摘要
This paper addresses the motion control problem of autonomousunderwater vehicles (AUVs) perturbed by unknown hydrodynamic coefficients, unmodelled dynamics and environmental disturbances. The proposed algorithm consists of an adaptive subcontroller to tackle the parametric uncertainties and a robust term to vanish the effects of unstructured uncertainties and disturbances. The resulting robust adaptive controller ensures the convergence of tracking error, without any assumption on the upper bound of perturbations in the design procedure. The closed loop stability is shown, using the Lyapunov stability theorem, and verified by various simulations.
延伸閱讀
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- Chen, Y., Li, J., Wang, K., & Ning, S. (2017). ROBUST TRAJECTORY TRACKING CONTROL OF UNDERACTUATED UNDERWATER VEHICLE SUBJECT TO UNCERTAINTIES. Journal of Marine Science and Technology, 25(3), 283-298. https://doi.org/10.6119/JMST-016-1219-1