@inproceedings{3d613a0e762e461794afd09a6eac302e,
title = "Robust Control of Autonomous Underwater Vehicles Based on Leakage-Type Adaptive Law",
abstract = "This paper introduces a Udwadia-Kalaba approach based adaptive trajectory tracking control for an autonomous underwater vehicle (AUV). Based on the Udwadia-Kalaba theoretical framework, an adaptive robust controller associated with a leakage-type adaptive law is developed to deal with parameter uncertainties and external unknown disturbances. The incorporation of leakage features provides a legitimate tuning of the adaptive parameters according to error magnitude. Besides, the disturbance can be estimated without overestimation due to the dynamic property of the proposed adaptive law. Simulation results demonstrate that the proposed control input realizes trajectory tracking control of the AUV under parameter uncertainties and external disturbances.",
keywords = "adaptive control, Leakage-type, Udwadia-Kalaba approach",
author = "Yuanjie Xian and Kang Huang and Ke Shao and Yan Ru",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",
year = "2023",
doi = "10.1109/IECON51785.2023.10311833",
language = "英语",
series = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE Computer Society",
booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",
}