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

DOI10.1002/rob.4620080307zbMath0724.70029OpenAlexW2056069998MaRDI QIDQ3212362

Svein Sagatun, Thor I. Fossen

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

Global stabilityhybrid controllerconfiguration matrix6 degrees of freedomadaptive passivity-based control schemeNorwegian experimental remotely operated vehicleunderwater mobile robots

Mathematics Subject Classification ID

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

Related Items (12)

Data-driven trajectory tracking control for autonomous underwater vehicle based on iterative extended state observer ⋮ Modified set-point controller for underwater vehicles ⋮ Single input fuzzy logic controller for unmanned underwater vehicle ⋮ A four-DOF Lagrangian approach to attitude tracking ⋮ Diving Autopilot Design for Underwater Vehicles Using an Adaptive Neuro-Fuzzy Sliding Mode Controller ⋮ Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane ⋮ Modelling and simulation of a robust energy efficient AUV controller ⋮ Control allocation -- a survey ⋮ Dynamic modeling for airship equipped with ballonets and ballast ⋮ Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm ⋮ Direct Adaptive Control of Underwater Vehicles using Neural Networks ⋮ Neuro-control of unmanned underwater vehicles

Cites Work

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

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