Adaptive control of nonlinear underwater robotic systems
نویسندگان
چکیده
منابع مشابه
Adaptive Control of Nonlinear Underwater Robotic Systems
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modelled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1) an adaptive passivity-based control scheme and (2) deriving a hybrid (adaptive and ...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1991
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1991.2.4