Corpus ID: 18558806

Adaptive track-keeping control of underwater robotic vehicle

  title={Adaptive track-keeping control of underwater robotic vehicle},
  author={J. Garus}
paper describes a method of control of the underwater robotic vehicle to the problem of tracking of a reference trajectory. A multidimensional non-linear model expresses the robot's dynamics. Command signals are generated by an autopilot consisting of four independent controllers with a parameter adaptation law implemented. A quality of control is concerned without and in presence of environmental disturbances. Selected results of computer simulations illustrating effectiveness and robustness… CONTINUE READING
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