TY - GEN
T1 - Model-free robust control for fluid disturbed underwater vehicles
AU - Pérez-Alcocer, Ricardo
AU - Olguín-Díaz, Ernesto
AU - Torres-Méndez, L. Abril
PY - 2012
Y1 - 2012
N2 - We present a control scheme that does not require exact knowledge of the model of an underwater vehicle while maintaining robustness against both parameter uncertainties and environment disturbances. An important aspect of the proposed control is the relative simplicity of its implementation. To verify the effectiveness of the controller, we use an efficient simulator that takes into account the fluid velocity and acceleration without the explicit expression of the last term. Simulations shows the effectiveness of the proposed control law.
AB - We present a control scheme that does not require exact knowledge of the model of an underwater vehicle while maintaining robustness against both parameter uncertainties and environment disturbances. An important aspect of the proposed control is the relative simplicity of its implementation. To verify the effectiveness of the controller, we use an efficient simulator that takes into account the fluid velocity and acceleration without the explicit expression of the last term. Simulations shows the effectiveness of the proposed control law.
KW - Fluid disturbance
KW - Model-free control
KW - Robust control
KW - Simulator
KW - Stability
KW - Underwater Vehicles
UR - http://www.scopus.com/inward/record.url?scp=84892867042&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-33515-0_51
DO - 10.1007/978-3-642-33515-0_51
M3 - Contribución a la conferencia
SN - 9783642335143
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 519
EP - 529
BT - Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings
T2 - 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012
Y2 - 3 October 2012 through 5 October 2012
ER -