Experimental Study on Adaptive Control of Underwater Robots
نویسندگان
چکیده
The control of underwater robots presents a number of unique and formidable challenges. Underwater robot dynamics are highly nonlinear, coupled, and timevarying, and subject to hydrodynamic uncertainties and external disturbances such as current. Unlike land mobile robots, underwater robots cannot use GPS (Global Positioning System). Most popular underwater positioning sensors are sonar-based, such as long-base line (LBL). However, autonomous processing of sonar measurements is plagued by noise, drop-outs, missed detection, false reading, poor resolution, etc. This paper presents a new adaptive control of underwater robots with sonar-based position measurements. Experimental results show robustness of the control system in the presence of unmodelled dynamics and various noise.
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