Adaptive control of nonlinear underwater robotic systems
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncert...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1991-04-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1991/MIC-1991-2-4.pdf |