Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle

Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle

A non-linear self-tuning algorithm is demonstrated for an autonomous underwater vehicle. Tighter control is achieved by a non-linear parameter identification algorithm which reduces the parameter uncertainty bounds. Expensive hydrodynamic tests for parameter determination can thus be avoided. Excell...

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Bibliographic Details
Main Authors: Thor Inge Fossen, Jens G. Balchen
Format: Article
Language:English
Published: Norwegian Society of Automatic Control 1988-10-01
Series:Modeling, Identification and Control
Subjects:
Non-linear identification
non-linear control
robust control
self-tuning
Online Access:http://www.mic-journal.no/PDF/1988/MIC-1988-4-1.pdf

Internet

http://www.mic-journal.no/PDF/1988/MIC-1988-4-1.pdf

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