Adaptive Tracking Control of an Autonomous Underwater Vehicle

查看全文 作　　者：Basant Kumar [1]Sahu;Bidyadhar [1]Subudhi

机构地区：[1]Centre for Industrial Electronics and Robotics, Department of Electrical Engineering, National Institute of Technology

出　　处：《International Journal of Automation and computing》索引2014年第11卷第3期,共9页

基　　金：supported by Naval Research Board,Defense Research Development Organization(DRDO),Government of India(No.DNRD/05/4003/NRB/160) 摘　　要：This paper presents the trajectory tracking control of an autonomous underwater vehicle(AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties.Stability of the developed controller is verified using the Lyapunov s direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller. 关键词：AUTONOMOUS UNDERWATER vehicle(AUV) adaptive control LAW regressor matrix Lyapunovs stability PATH following

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Adaptive Tracking Control of an Autonomous Underwater Vehicle

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