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Robust adaptive path following for underactuated surface vessels with uncertain dynamics

โœ Scribed by Wei Meng, Chen Guo, Yang Liu

Book ID
113090698
Publisher
Harbin Engineering University
Year
2012
Tongue
English
Weight
356 KB
Volume
11
Category
Article
ISSN
1671-9433

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Robust and adaptive path following for u
Robust and adaptive path following for underactuated autonomous underwater vehicles
โœ K.D. Do; J. Pan; Z.P. Jiang ๐Ÿ“‚ Article ๐Ÿ“… 2004 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 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.