JORDAN Mario Alberto
congresos y reuniones científicas
A High-Performance Digital Adaptive Control System with Perturbed Measures and Model Error for Unmanned Underwater Vehicles
MARIO A. JORDÁN; JORGE L. BUSTAMANTE
Jornada; VI Jornadas Argentinas de Robótica; 2010
Instituto Tecnológico de Buenos Aires (ITBA)
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. A general control system class is presented in digital form. The control problem is focused on the path tracking of vehicles in many degrees of freedom (up to six). It was shown that geometric and kinematic measure disturbances can propagate not only in the control action law but also in the adaptive laws. When their influences are tracked along the stability and the asymptotic convergence. Formal proofs are developed.