A novel adaptive control law for autonomous underwater vehicles

被引：0
|
作者：
Antonelli, G [1 ]
Caccavale, F [1 ]
Chiaverini, S [1 ]
Fusco, G [1 ]
机构：
[1] Univ Cassino, Dipartimento Automaz, I-03043 Cassino, FR, Italy
来源：
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a new adaptive control law for Autonomous Underwater Vehicles (AUVs) is presented. Usually, the control laws are designed with respect to a mathematical model expressed either in the earth-fixed frame or in. the vehicle-fixed frame. These two approaches, however, do not take into account the different origin of the effects that can affect the steady state errors: namely, the restoring generalized forces and the ocean current. With the use of a suitable adaptive action those effects can be properly taken into account as will be shown in this paper.
引用
收藏
页码：447 / 452
页数：6
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