Cascaded adaptive control of ocean vehicles with significant actuator dynamics
نویسندگان
چکیده
منابع مشابه
Cascaded Adaptive Control of Ocean Vehicles with Signiicant Actuator Dynamics Dr.ing Ee, M.sc Naval Architecture Assistant Professor Cascaded Adaptive Control of Marine Vehicles with Significant Actuator Dynamics
This paper presents a cascaded adaptive control scheme for marine vehicles where the nonlinear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbb alat's lemma. Fur...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1994
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1994.2.2