Abstract
A combination of a model-free control law at the dynamic level and a guidance law at the kinematic level is proposed for the tracking of an underactuated underwater robot vehicle. The closed-loop system gives rise to chattering-free integral sliding modes for local exponential tracking of actuated coordinates, while ensuring a global stable internal dynamics under certain conditions easy to meet in practice. The design methodology relies on a careful manipulation of the quasi-lagrangian model of the underwater vehicle with a control law that is independent of dynamic model and its parameters assuming full access to the state. Comparative simulations versus a PID show the feasibility and robust behavior under parametric and model uncertainties.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Revista Iberoamericana de Automática e Informática Industrial RIAI
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
