Search results for "underactuated underwater vehicle"

showing 2 items of 2 documents

Adaptive Control of Underactuated Underwater Vehicles

2008

This paper deals with a control strategy for underactuated underwater vehicles whose target is trajectory tracking. A cascade approach is employed which brings to a control law consisting of: a) an outer loop, obtained from the vehicle kinematic model, which forces this model to track the reference trajectory; b) an inner adaptive control loop which forces the system to track the reference signals given by the outer control loop. Conditions for asymptotic tracking of the trajectory and boundness of the unactuated velocities are given. Simulation tests illustrate the proposed approach.

underactuated underwater vehicleSettore ING-INF/04 - Automaticanavigation systemstrajectory trackingadaptive control
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Trajectory tracking of underactuated underwater vehicles

2003

This paper deals with a control strategies for underactuated underwater vehicles whose target is the tracking of a space trajectory. A cascade control strategy is employed which brings to a control law consisting of: 1) a kinematic control law, derived from the vehicle kinematic model, which forces this model to track the reference trajectory; and 2) a dynamic control law which forces the system to track the reference signals given by the kinematic control law. Conditions for asymptotic tracking of the trajectory are given with reference to the standard dynamical model of the above vehicle. An observer of the marine current is also added in order to process the control law. Simulation tests…

EngineeringObserver (quantum physics)business.industryUnderactuationnavigation systemsProcess (computing)Control engineeringKinematicsTracking (particle physics)Pipeline surveyingComputer Science::RoboticsSettore ING-INF/04 - AutomaticaTrajectory trackingControl theoryCascadeTrajectoryUnderactuated underwater vehicleUnderwaterbusinessProceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)
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