On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles

@article{Antonelli2007OnTU,
  title={On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles},
  author={Gianluca Antonelli},
  journal={IEEE Journal of Oceanic Engineering},
  year={2007},
  volume={32},
  pages={300-312}
}
In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to the persistent effects is discussed. Moreover, for each controller, an adaptive/integral proportional derivative (PD) plus gravity… CONTINUE READING
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