A cascaded adaptive UUV tracking control design with ocean current
作者： Bing Sun , Man Mei , Daqi Zhu
DOI: 10.1109/CHICC.2015.7260301
关键词:
摘要: This paper proposes a tracking control law design for unmanned underwater vehicles that take into account the hydrodynamic and ocean current effects. In order to achieve this aim, cascaded adaptive with is designed. First, kinematic controller developed dynamic designed extend kinematics dynamics tracking. The system stability can be strictly guaranteed by Lyapunov theory. Then, in show effectiveness of proposed method, typical added do comparative study. experiment results method deal effects quite well.
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