Edwin Kreuzer

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Sliding mode control, due to its robustness against modelling imprecisions and external disturbances, has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In order to improve the performance of the complete system, the discontinuity in the control law must be smoothed out to avoid the undesirable chattering(More)
  • Mario A Jordán, Jorge L Bustamante, Edwin Kreuzer, Volker Schlegel
  • 2005
In this work an algorithm for on-line estimation of the nonlinear hydro-dynamics in underwater vehicles is presented. The algorithm is able to estimate physical parameters from natural operation signals. Identifiability and convergence of the parameter trajectories are analyzed. The application of the algorithm to a spherical vehicle is described with(More)
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