“Adaptive control of ROVs with actuator dynamics and saturation”

Authors: Ola-Erik Fjellstad, Thor I. Fossen and Olav Egeland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1992, Vol 13, No 3, pp. 175-188.

Keywords: ROV, model reference adaptive control, actuator dynamics and saturation

Abstract: A direct model reference adaptive controller (MRAC) is derived for an underwater vehicle with significant thruster dynamics and limited thruster power. The reference model decomposition (RMD) technique is used to compensate for the thruster dynamics. A reference model adjustment (RMA) technique modifying the reference model acceleration is used to avoid thruster saturation. The design methods are simulated for the yawing motion of an underwater vehicle.

PDF PDF (1559 Kb)        DOI: 10.4173/mic.1992.3.5

DOI forward links to this article:
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  title={{Adaptive control of ROVs with actuator dynamics and saturation}},
  author={Fjellstad, Ola-Erik and Fossen, Thor I. and Egeland, Olav},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}