The Effect of Model Accuracy and Thruster Saturation on Tracking Performance of Model Based Controllers for Underwater Robotic Vehicles: Experimental Results

@inproceedings{Smallwood2002TheEO,
  title={The Effect of Model Accuracy and Thruster Saturation on Tracking Performance of Model Based Controllers for Underwater Robotic Vehicles: Experimental Results},
  author={David A. Smallwood and Louis L. Whitcomb},
  booktitle={ICRA},
  year={2002}
}
This paper reports an experimental investigation of the effect of two specific errors on a class of model based controllers for the low-speed maneuvering of fully actuated underwater vehicles. First, we review previously reported studies and a commonly accepted simplified plant model that has been experimentally validated for this class of vehicles. Second, we review a family of associated model-based nonlinear controllers both fixed and adaptive for trajectory tracking, as well as the commonly… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.
6 Citations
30 References
Similar Papers

References

Publications referenced by this paper.
Showing 1-10 of 30 references

Toward model based dynamic positioning of underwater robotic vehicles

  • D. A. Smallwood, L. L. Whitcomb
  • In Proceedings of IEEE/MTS OCEANS
  • 2001
Highly Influential
6 Excerpts

Adaptive control of an autonomous underwater vehicle : Experimental results on ODIN

  • S. Chiaverini, N. Sarkar, M. West.
  • IEEE Transactions on Control Systems Technology
  • 2001

Similar Papers

Loading similar papers…