Title :
Adaptive sliding control of an experimental underwater vehicle
Author :
Yoerger, Dana R. ; Slotine, Jean-Jacques E.
Author_Institution :
Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Inst., Woods Hole, MA, USA
Abstract :
It is shown that adaptive extensions of sliding control are effective for precise control of underwater vehicles through experiments with an actual vehicle. Adaptive sliding control permits direct nonlinear control system design, including online parameter estimation. Experimental results are detailed which were obtained from a tethered underwater vehicle equipped with a precision broadband acoustic navigation system and three-degree-of-freedom attitude instrumentation controlled through a real-time network of transputers. Simulation and experimental trials show online determination of vehicle parameters such as mass and nonlinear drag
Keywords :
adaptive control; computerised control; marine systems; nonlinear control systems; parameter estimation; robots; variable structure systems; adaptive sliding control; broadband acoustic navigation system; design; nonlinear control system; online parameter estimation; real-time; robots; transputers; underwater vehicle; Adaptive control; Attitude control; Control systems; Instruments; Navigation; Nonlinear control systems; Parameter estimation; Programmable control; Underwater acoustics; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132047
