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Application of a robust adaptive controller to autonomous diving control of an AUV

Authors
Li, J.H.Lee, P.M.Jun, B.H.
Issue Date
2004
Citation
IECON Proceedings (Industrial Electronics Conference), v.1, pp 419 - 424
Pages
6
Journal Title
IECON Proceedings (Industrial Electronics Conference)
Volume
1
Start Page
419
End Page
424
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9114
ISSN
0000-0000
Abstract
This paper presents a robust adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV). It is well known that the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori. In this paper, the smooth unknown dynamics of vehicle is approximated by neural network, and the remaining unstructured uncertainties, such as disturbances and unmodeled dynamics, are assumed to satisfy certain growth conditions characterized by 'bounding function' composed of known function multiplied by unknown constant Under a certain relaxed assumptions on the control gain function, the proposed control scheme can guarantee that all the signals in the closed-loop system satisfy to be uniformly ultimately bounded (UUB). Simulation studies using ASUM AUV model, which is developing at KRISO, are included to illustrate the effectiveness of the proposed control scheme. Some practical features of the control laws are also discussed. ? 2004 IEEE.
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