Experimental study on advanced underwater robot control

  title={Experimental study on advanced underwater robot control},
  author={Side Zhao and Junku Yuh},
  journal={IEEE Transactions on Robotics},
The control issue of underwater robots is very challenging due to the nonlinearity, time variance, unpredictable external disturbances, such as the sea current fluctuation, and the difficulty in accurately modeling the hydrodynamic effect. Conventional linear controllers may fail in satisfying performance requirements, especially when changes in the system and environment occur during the operation since it is almost impossible to manually retune the control parameters in water. Therefore, it… CONTINUE READING
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