Model-Free Robust Control for Fluid Disturbed Underwater Vehicles
نویسندگان
چکیده
We present a control scheme that does not require exact knowledge of the model of an underwater vehicle while maintaining robustness against both parameter uncertainties and environment disturbances. An important aspect of the proposed control is the relative simplicity of its implementation. To verify the effectiveness of the controller, we use an efficient simulator that takes into account the fluid velocity and acceleration without the explicit expression of the last term. Simulations shows the effectiveness of the proposed control law.
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