Adaptive control of nonlinear systems: A case study of underwater robotic systems

DOI10.1002/ROB.4620080307MaRDI QIDQ3212362zbMATH OpenOpenAlexFDO

Authors Thor I. Fossen, S. I. Sagatun

Publication date 1991

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620080307

zbMATH Keywords

6 degrees of freedomadaptive passivity-based control schemeconfiguration matrixGlobal stabilityhybrid controllerNorwegian experimental remotely operated vehicleunderwater mobile robots

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Comments on "Hamiltonian adaptive control of spacecraft" by J.J.E. Slotine and M.D. Di Benedetto
• Hamiltonian adaptive control of spacecraft
• On adaptive inverse dynamics control of rigid robots

Cited in

(14)

• Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane
• Data-driven trajectory tracking control for autonomous underwater vehicle based on iterative extended state observer
• Modelling and simulation of a robust energy efficient AUV controller
• Modified set-point controller for underwater vehicles
• Diving autopilot design for underwater vehicles using an adaptive neuro-fuzzy sliding mode controller
• Direct Adaptive Control of Underwater Vehicles using Neural Networks
• Robust adaptive control of underwater vehicles: A comparative study
• Control allocation -- a survey
• Trajectory tracking for underwater swimming manipulators using a super twisting algorithm
• Neuro-control of unmanned underwater vehicles
• Single input fuzzy logic controller for unmanned underwater vehicle
• A four-DOF Lagrangian approach to attitude tracking
• Further results on event-triggered impulsive control of nonlinear systems against disturbance
• Dynamic modeling for airship equipped with ballonets and ballast

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