Adaptive Control of Underactuated Underwater Vehicles

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Abstract

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.
Lingua originaleEnglish
Numero di pagine0
RivistaAUTOMATIC CONTROL IN AEROSPACE
Volume2
Stato di pubblicazionePublished - 2008

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title = "Adaptive Control of Underactuated Underwater Vehicles",
abstract = "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.",
keywords = "adaptive control, navigation systems, trajectory tracking, underactuated underwater vehicle",
author = "Francesco Alonge and Filippo D'Ippolito",
year = "2008",
language = "English",
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journal = "AUTOMATIC CONTROL IN AEROSPACE",
issn = "1974-5168",

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T1 - Adaptive Control of Underactuated Underwater Vehicles

AU - Alonge, Francesco

AU - D'Ippolito, Filippo

PY - 2008

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N2 - 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.

AB - 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.

KW - adaptive control

KW - navigation systems

KW - trajectory tracking

KW - underactuated underwater vehicle

UR - http://hdl.handle.net/10447/35226

M3 - Article

VL - 2

JO - AUTOMATIC CONTROL IN AEROSPACE

JF - AUTOMATIC CONTROL IN AEROSPACE

SN - 1974-5168

ER -