A High-Performance Digital Adaptive Control System with Perturbed Measures and Model Error for Unmanned Underwater Vehicles

MARIO A. JORDÁN; JORGE L. BUSTAMANTE

Buenos Aires, Argentina

Jornada; VI Jornadas Argentinas de Robótica; 2010

Instituto Tecnológico de Buenos Aires

This paper concerns the research of the influence of bounded noisy measures and model errors in the performance and stability of a general class of digital adaptive control systems. The control problem is focused on the path tracking of vehicles in many degrees of freedom. It was shown that geometric and kinematic measure disturbances can propagate not only in the control action law but also in the adaptive laws. Their influences are tracked along the stability and the asymptotic convergence.