On the Convergence of Minimum-time Adaptive Servocontrol for Autonomous Underwater Vehicles

JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE

Sheraton, Buenos Aires, Argentina

Conferencia; XXº Congreso Argentino de Control Automático; 2006

Asociación Argentina de Control Automático

In this paper, a formal proof of convergence for the adaptive servo-tracking problem of AUVs with automatic generation of time-optimal references is presented. To this purpose, a special ordinary differential equation is constructed in order to generate a virtual time for running the references along specified geometric paths. This automatically determines the maximal rate for translation and rotation in the 6 modes of the vehicle. The proof of asymptotic convergence embraces adaptive control laws, a state/disturbance observer for the inverse dynamics of thrusters, and finally, a state-dependent feedback for generation of a virtual time. The main thread of the proof was based on demonstrating the uniform continuity of references and derivatives of them with the virtual time as argument.