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
نویسندگان
چکیده
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. Furthermore, all parameter estimates are shown to be bounded. Computer simulations of a remotely operated vehicle (ROV) is used to illustrate the design methodology.
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