IADO   05364
INSTITUTO ARGENTINO DE OCEANOGRAFIA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
A Speed-Gradient Adaptive Control with State/Dis- turbance Observer for Autonomous Subaquatic Vehicles
Autor/es:
JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE
Lugar:
Manchester Grand Hyatt, San Diego, CA, USA
Reunión:
Conferencia; 45th. IEEE Conf. on Dec. and Control (CDC 2006); 2006
Institución organizadora:
IEEE, CSS
Resumen:
In this paper the design of a global asymptotic adaptive control system for autonomous underwater vehicles with 6 degrees of freedom is presented. The adaptive controller is based on a speed-gradient law for tracking both kinematics and positioning reference trajectories independently. A state/disturbance observer enables the design procedure to include also the thruster dynamics. With this combination a high-performance control can be attained for the servocontrol problem. A rigorous result of convergence is presented. A case study based on simulations and 3D visualization on an existing underwater ROV shows the goodness of the proposed algorithm.