Abstract
AbstractThis chapter deals with the velocity tracking controllers containing an adaptive term in the equations expressed using the IQV. The control schemes can be applied to underwater vehicles, some horizontally moving vehicles, and indoor airships. They are realized in the Body-Fixed Frame and guarantee the velocity error convergence in the finite time if a disturbance model is assumed. The input control signals obtained after variables transformation, and the simplified forms of controllers are also considered. Moreover, the relationship between both kind of algorithms is indicated. Simulation results for a full 6 DOF model of an underwater vehicle and an indoor airship show performance of the control algorithms in terms of the GVC and the NGVC. Finally, some selected simulation results are delivered.
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