IADO 05364
INSTITUTO ARGENTINO DE OCEANOGRAFIA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
An Adaptive Control System for Underwater Vehicles with Time-Varying Parameters
Autor/es:
JORDÁN, MARIO A.LVERTO; BUSTAMANTE, JORGE LUIS
Lugar:
Río Gallegos, Argentina
Reunión:
Congreso; XII Reunión de Trabajo en Procesamiento de la Información y Control (XII RPIC); 2007
Institución organizadora:
Universidad Nacional de la Patagonia Austral
Resumen:
This paper is concerned with time-varying properties of the dynamics of underwater vehicles and its path-tracking control. The algorithm is able to adapt arbitrary, piecewise-continuous, time-varying parameters, like periodic perturbations, leading to asymptotic tracking with null error in the guidance with outstanding transient performance. This is proved rigorously in a theorem. A case study closes the work illustrating the features of our approach.
