DocumentCode :
975549
Title :
On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles
Author :
Antonelli, Gianluca
Author_Institution :
Univ. degli Studi di Cassino, Cassino
Volume :
32
Issue :
2
fYear :
2007
fDate :
4/1/2007 12:00:00 AM
Firstpage :
300
Lastpage :
312
Abstract :
In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to the persistent effects is discussed. Moreover, for each controller, an adaptive/integral proportional derivative (PD) plus gravity compensation-like version is derived and eventually modified so as to achieve null steady-state error under modeling uncertainty and presence of ocean current. Numerical simulations are presented to better illustrate the controllers´ behavior.
Keywords :
adaptive control; remotely operated vehicles; three-term control; underwater vehicles; 6-DOF; AUV; adaptive-integral actions; adaptive-integral proportional derivative; autonomous underwater vehicles; six-degrees-of-freedom control; Adaptive control; Marine vehicles; Oceans; PD control; Pi control; Programmable control; Remotely operated vehicles; Steady-state; Underwater vehicles; Vehicle dynamics; Adaptive control; underwater vehicles; underwater vehicles control;
fLanguage :
English
Journal_Title :
Oceanic Engineering, IEEE Journal of
Publisher :
ieee
ISSN :
0364-9059
Type :
jour
DOI :
10.1109/JOE.2007.893685
Filename :
4383206
Link To Document :
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