Adaptive disturbance observer for trajectory tracking control of underwater vehicles

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Application of Adaptive Disturbance Observer Control to an Underwater Manipulator

Hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion and current. This paper presents a non-regressor based adaptive control scheme with a disturbance observer for tracking the trajectory of underwater mobile platform-mounted manipulators. The presented control system does not require any informatio...

Motion Control and Trajectory Tracking Control for a Mobile Robot Via Disturbance Observer

This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an auxiliary wheel velocity controller to make the tracking errors, which includes the velocity tracking error, the angular velocity tra...

Adaptive Control for Guidance of Underwater Vehicles

Robust Trajectory Tracking for Underactuated VTOL Aerial Vehicles: Extended for Adaptive Disturbance Compensation

This work proposes a feedback control strategy to let the dynamics of an underactuated Vertical Take-Off and Landing (VTOL) aerial vehicle to track a desired trajectory thanks to an adaptive robust compensation of the aerodynamic disturbances. The novelty of the proposed approach consists in employing an aerodynamic disturbance observer derived using the NonLinear Geometric Approach and Radial ...