Citation:
Jian Cao,Yumin Su and Jinxin Zhao.Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV[J].Journal of Marine Science and Application,2011,(3):333-339.[doi:10.1007/s11804-011-1077-y]
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Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV
Jian Cao,Yumin Su and Jinxin Zhao.Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV[J].Journal of Marine Science and Application,2011,(3):333-339.[doi:10.1007/s11804-011-1077-y]
Info
- Title:
- Design of an Adaptive Controller for Dive-plane Control of a Torpedo-shaped AUV
- Author(s):
- Jian Cao; Yumin Su and Jinxin Zhao
- Affilations:
- Keywords:
- adaptive control; back-stepping; trajectory tracking; autonomous underwater vehicle; dive-plane control
- DOI:
- 10.1007/s11804-011-1077-y
- Abstract:
- Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.
References:
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Memo
- Memo:
- Supported by the National Natural Science Foundation of China under Grant No.50909025/E091002
