Adaptive/integral actions for 6-DOF control of AUVs

被引:7
作者
Antonelli, Gianluca [1 ]
机构
[1] Univ Cassino, DAEIMI, I-03043 Cassino, Italy
来源
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词
D O I
10.1109/ROBOT.2006.1642191
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 the control of Autonomous Underwater Vehicles in 6 degrees of freedom is analyzed in a comparison study among several controllers. At steady state the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to those persistent effects is discussed. Moreover, for each controller an adaptive/integral PD+gravity-compensation-like version is derived and eventually, modified so as to achieve null steady state error under modeling uncertainty and presence of ocean current. Numerical simulations are presented to better illustrate the controllers' behavior.
引用
收藏
页码:3214 / 3219
页数:6
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