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region reaching

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Adaptive control schemes for autonomous underwater vehicle
Yeow Cheng Sun, Chien Chern Cheah
Journal:

Robotica / Volume 27 / Issue 1 / January 2009

Published online by Cambridge University Press:

01 January 2009, pp. 119-129
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In this paper, two adaptive proportional-derivative (PD) control laws are proposed for autonomous underwater vehicle (AUV). The proposed adaptive controllers require only model of gravity and buoyancy regressor matrix and do not need any knowledge of inertia matrix, Coriolis and centripetal force, hydrodynamic damping, and the parameters of the gravity and buoyancy force. Hence, the proposed controllers have the advantages of simplicity and ease of implementation. We shall also prove that the setpoint controller is a special case of the region reaching controller when a desired region is reduced to a point. Furthermore, the inverse Jacobian matrix is not required in the control laws. Lyapunov-like functions are proposed for the stability analysis. Simulations are presented to demonstrate the effectiveness of the proposed controllers.