Abstract
AbstractThis chapter is devoted to adaptive nonlinear controllers using the IQV, for a class of vehicles, which allow the trajectory position and velocity tracking in the Earth-Fixed Frame in the presence of disturbances described by a model. The proposed controllers guarantee the position and velocity error convergence in the finite time. The input control signals in the Earth-Fixed Frame, some simplified controllers and application for 3 DOF horizontally moving vehicles are discussed either. Additionally, simulation results for a 6 DOF model of an underwater vehicle and an indoor airship are given here.
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