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

fYear

1991

fDate

9-11 Apr 1991

Firstpage

2746

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.132047

Filename

132047