Adaptive tracking control of an autonomous underwater vehicle

被引：78
|
作者：
Sahu B.K. [1 ]
Subudhi B. [1 ]
机构：
[1] Centre for Industrial Electronics and Robotics, Department of Electrical Engineering, National Institute of Technology, Rourkela
来源：
Subudhi, Bidyadhar (bidyadhar@nitrkl.ac.in) | 1600年 / Chinese Academy of Sciences卷 / 11期
关键词：
adaptive control law; Autonomous underwater vehicle (AUV); Lyapunov's stability; path following; regressor matrix;
D O I：
10.1007/s11633-014-0792-7
中图分类号：
学科分类号：
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. © 2014 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：299 / 307
页数：8
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