A method of adaptive system synthesis for the control of autonomous underwater vehicle spatial motion is developed. A special nonlinear correcting devices is offered. This devices allows to compensate the complete dynamical coupling and kinematic correlations between this vehicle degrees of mobility at constant control object parameters. An adaptive self-adjustment is used in order to compensate the arbitrary variations of this parameters and external perturbances. The efficiency of synthesised control system is confirmed by numerical simulation.
The Synthesis of Adaptive Control System With Reference Model for Autonomous Underwater Vehicle
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Lebedev, AV, & Filaretov, VF. "The Synthesis of Adaptive Control System With Reference Model for Autonomous Underwater Vehicle." Proceedings of the ASME 2002 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control. New Orleans, Louisiana, USA. November 17–22, 2002. pp. 981-985. ASME. https://doi.org/10.1115/IMECE2002-32699
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