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Adaptive sliding control of an experimental underwater vehicle

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2 Author(s)
Yoerger, D.R. ; Dept. of Appl. Ocean Phys. & Eng., Woods Hole Oceanogr. Inst., Woods Hole, MA, USA ; Slotine, J.-J.E.

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

Published in:

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

Date of Conference:

9-11 Apr 1991