JORDAN Mario Alberto
congresos y reuniones científicas
An Approach to Adaptive Control with State/Disturbance Observer for Autonomous Subaquatic 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 the design of a nonlinear adaptive control system for generic autonomous underwater vehicles in 6 degrees of freedom is presented. Both the positioning and cinematic tracking-problem are dealt with jointly in the adaptive approach. No knowledge about parameters of the vehicle dynamics and hydrodynamics is required beforehand for the design. The adaptation was carried out through a nonlinear speed-gradient adaptive control law. The dynamics of thrusters is considered in the design by employing an inverse-dynamics technique and state/disturbance observation. The proof of the asymptotic convergence of the overall controlled system is presented. Selected numerical simulations depict the goodness of the proposed approach.