Nonlinear adaptive control of underwater robot in horizontal motion

  • Authors:

  • Jerzy Garus

  • Affiliations:

  • Faculty of Mechanical and Electrical Engineering, Naval University, Gdynia, Poland

  • Venue:
  • ISTASC'06 Proceedings of the 6th WSEAS International Conference on Systems Theory & Scientific Computation
  • Year:
  • 2006

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Abstract

The paper addresses nonlinear control of an underwater robot. The way-point line of sight scheme is incorporated for the tracking of a desired trajectory. Command signals are generated by an autopilot consisting of three controllers with parameter adaptation law implemented. Quality of control is concerned without and in presence of external disturbances. Some computer simulations are provided to demonstrate effectiveness, correctness and robustness of the approach.