L1 adaptive pitch control of an autonomous underwater vehicle

@inproceedings{Sarhadi2014L1AP,
  title={L1 adaptive pitch control of an autonomous underwater vehicle},
  author={Pouria Sarhadi and Abolfazl Ranjbar Noei and Alireza Khosravi},
  year={2014}
}
Purpose – The purpose of this paper is to show the application of an L1 adaptive controller to control an autonomous underwater vehicle (AUV), considering realistic perturbations. Design/methodology/approach – In this paper, an L1 adaptive controller is proposed to control the pitch channel of an AUV, for the first time. Based on a six degree of freedom (6-DOF) nonlinear equations, an appropriate linear model considering real perturbations is derived for the pitch channel of AUV. Then L1… CONTINUE READING