頁籤選單縮合
題 名 | Robust Adaptive Motion Control with Environmental Disturbance Rejection for Perturbed Underwater Vehicles |
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作 者 | Hamid Reza Koofigar; | 書刊名 | Journal of Marine Science and Technology |
卷 期 | 22:4 2014.08[民103.08] |
頁 次 | 頁455-462 |
專 輯 | Marine Engineering, Maritime, and Marine Affair |
分類號 | 444.59、444.59 |
關鍵詞 | Autonomous underwater vehicles; AUVs; Motion control; Robust adaptive tracking; Unmodelled dynamics; Hydrodynamic coefficients; Environmental disturbances; |
語 文 | 英文(English) |
英文摘要 | This paper addresses the motion control problem of autonomous underwater vehicles (AUVs) perturbed by unknown hydrodynamic coefficients, unmodelled dynamics and environmental disturbances. The proposed algorithm consists of an adaptive subcontroller to tackle the parametric uncertainties and a robust term to vanish the effects of unstructured uncertainties and disturbances. The resulting robust adaptive controller ensures the convergence of tracking error, without any assumption on the upper bound of perturbations in the design procedure. The closed loop stability is shown, using the Lyapunov stability theorem, and verified by various simulations. |
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