Abstract
The paper addresses nonlinear control of an underwater robot. The way-point line of sight scheme is incorporated for the tracking of a desired trajectory. Command signals are generated by an autopilot consisting of four controllers with parameter adaptation law implemented. Quality of control is concerned in presence of environmental disturbances. Some computer simulations are provided to demonstrate effectiveness, correctness and robustness of the approach.
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Garus, J. (2009). Model Reference Adaptive Control of Underwater Robot in Spatial Motion. In: Mitkowski, W., Kacprzyk, J. (eds) Modelling Dynamics in Processes and Systems. Studies in Computational Intelligence, vol 180. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-92203-2_5
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DOI: https://doi.org/10.1007/978-3-540-92203-2_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-92202-5
Online ISBN: 978-3-540-92203-2
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