Controller Purely Designed in the Discrete Time Domain for UUVs-A Stability Point of View.

MARIO A. JORDÁN; JORGE L. BUSTAMANTE

Oro Verde

Congreso; XIV Reunión de Trabajo en Procesamiento de la Información y Control (RPIC XIV); 2011

Universidad Nacional de Entre Ríos

This paper deals with the design of a digital adaptive control system for a class of complex dynamics. Though the approach is based on known speed-gradient techniques in continuous time domain, it is directly worked up in the discrete time to ensure the convexity conditions. The approach is compared with analog speed-gradient controllers which are translated directly to the digital time domain. The influence of noisy measures and modelling errors are tracked along with the analysis of stability and performance. A comparative case study concerning the guidance of unmanned underwater vehicles (UUVs) for path tracking illustrates the features of the approaches in this application field.