Cart (Loading....) | Create Account
Close category search window
 

Adaptive DOB control for AUVs

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Zhao, S. ; Dept. of Mechanical Eng., Hawaii Univ., Honolulu, HI, USA ; Yuh, J. ; Choi, S.K.

This paper presents the theory and experimental work of the adaptive plus disturbance observer (DOB) controller on underwater robot. This control scheme consists of DOB as an inner-loop compensator and a non-regressor based adaptive controller as an outer-loop controller. It is regressor-free, and is robust with respect to external disturbance as well as the variation of the nominal model used to construct DOB. The performance and characteristics of this controller are shown through comparison tests among four different controllers: PID controller, PID plus DOB controller, adaptive controller and adaptive plus DOB controller.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.