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.

Alonge F, D'Ippolito F (2008). Adaptive Control of Underactuated Underwater Vehicles. AUTOMATIC CONTROL IN AEROSPACE, 2.

Adaptive Control of Underactuated Underwater Vehicles

ALONGE, Francesco;D'IPPOLITO, Filippo
2008-01-01

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.
2008
Settore ING-INF/04 - Automatica
Alonge F, D'Ippolito F (2008). Adaptive Control of Underactuated Underwater Vehicles. AUTOMATIC CONTROL IN AEROSPACE, 2.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/35226
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