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Robust adaptive motion control for underwater remotely operated vehicles with velocity constraints

โœ Scribed by Zhijun Li; Chenguang Yang; Nan Ding; Stjepan Bogdan; Tong Ge


Book ID
113106997
Publisher
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Year
2012
Tongue
English
Weight
887 KB
Volume
10
Category
Article
ISSN
1598-6446

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This paper proposes an angular velocity bounded robust adaptive control design for attitude maneuver and vibration reduction in the presence of external disturbances and uncertainties in the inertia matrix. The control design is Lyapunov based to ensure closed-loop stability, boundedness of system s