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.
為了持續優化網站功能與使用者體驗,本網站將Cookies分析技術用於網站營運、分析和個人化服務之目的。
若您繼續瀏覽本網站,即表示您同意本網站使用Cookies。