Robust and adaptive path following for u
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K.D. Do; J. Pan; Z.P. Jiang
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Article
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2004
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Elsevier Science
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English
โ 383 KB
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters.