INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
Controller Purely Designed in the Discrete Time Domain for UUVs-A Stability Point of View.
Autor/es:
MARIO A. JORDÁN; JORGE L. BUSTAMANTE
Lugar:
Oro Verde
Reunión:
Congreso; XIV Reunión de Trabajo en Procesamiento de la Información y Control (RPIC XIV); 2011
Institución organizadora:
Universidad Nacional de Entre Ríos
Resumen:
This paper deals with the design of a digital adaptive control system for a class of complex dynamics. Though the approach is based on known speed-gradient techniques in continuous time domain, it is directly worked up in the discrete time to ensure the convexity conditions. The approach is compared with analog speed-gradient controllers which are translated directly to the digital time domain. The influence of noisy measures and modelling errors are tracked along with the analysis of stability and performance. A comparative case study concerning the guidance of unmanned underwater vehicles (UUVs) for path tracking illustrates the features of the approaches in this application field.
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