A novel adaptive control law for underwater vehicles

This paper proposes an approach to the design of control laws for underwater vehicles that takes into account the hydrodynamic effects affecting the tracking performance. To this aim, a suitable adaptive action based on appropriate kinematic transformations between the earth-fixed frame and the vehi...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on control systems technology 2003-03, Vol.11 (2), p.221-232
Main Authors: Antonelli, G., Caccavale, F., Chiaverini, S., Fusco, G.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Applied sciences
Attitude control
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Error correction
Exact sciences and technology
Fluid dynamics
Fluid flow
Force control
Frames
Hydrodynamics
Kinematics
Law
Miscellaneous
Quaternions
Stability
Studies
Tracking
Transformations
Underwater tracking
Underwater vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper proposes an approach to the design of control laws for underwater vehicles that takes into account the hydrodynamic effects affecting the tracking performance. To this aim, a suitable adaptive action based on appropriate kinematic transformations between the earth-fixed frame and the vehicle-fixed frame is developed. The proposed control law adopts quaternions to represent attitude errors, thus avoiding representation singularities that occur when using instead Euler angles. The stability of the designed control law is demonstrated by means of a Lyapunov-based argument. In view of practical implementation, a simplified version of the developed control law is also proposed that compensates only the persistent hydrodynamic terms, namely, the restoring generalized forces and the ocean current. Finally, the tracking performance of the proposed control law is analyzed in comparison to that of other existing control laws available in the literature. The obtained simulation results confirm the effectiveness of the proposed technique.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2003.809244