“Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle”

Authors: Thor I. Fossen and Jens G. Balchen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1988, Vol 9, No 4, pp. 165-177.

Keywords: Non-linear identification, non-linear control, robust control, self-tuning, autonomous underwater vehicle

Abstract: A non-linear self-tuning algorithm is demonstrated for an autonomous underwater vehicle. Tighter control is achieved by a non-linear parameter identification algorithm which reduces the parameter uncertainty bounds. Expensive hydrodynamic tests for parameter determination can thus be avoided. Excellent tracking performance and robustness to parameter uncertainty are guaranteed through a robust control strategy based on the estimated parameters. The nonlinear control law is highly robust for imprecise models and the neglected dynamics. The non-linear self-tuning control strategy is simulated for the horizontal positioning of an underwater vehicle.

PDF PDF (1117 Kb)        DOI: 10.4173/mic.1988.4.1

DOI forward links to this article:
[1] Ren Guang and Jens G. Balchen (1993), doi:10.4173/mic.1993.3.3
[2] Thor I. Fossen and Svein I. Sagatun (1991), doi:10.1002/rob.4620080307
[3] Thor I. Fossen and Svein I. Sagatun (1991), doi:10.4173/mic.1991.2.4
[4] T.I. Fossen and S.I. Sagatun (1991), doi:10.1109/ROBOT.1991.131862
[5] T.I. Fossen (1991), doi:10.1109/ICAR.1991.240508
[6] O.J. Rodseth and J.O. Hallset (1991), doi:10.1109/OCEANS.1991.628155
[7] Masahiko Nakamura, Kenichi Asakawa, Tadahiro Hyakudome, Satoru Kishima, Hiroki Matsuoka and Takuya Minami (2013), doi:10.1109/JOE.2012.2236152
[8] (2016), doi:10.1201/b19258-59
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  title={{Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle}},
  author={Fossen, Thor I. and Balchen, Jens G.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}