TY - GEN

T1 - Adaptive output feedback control of a spheroidal underactuated underwater vehicle

AU - Stepanyan, V.

AU - Hovakimyan, N.

AU - Woolsey, C. A.

PY - 2005

Y1 - 2005

N2 - Adaptive output feedback is applied to an uncertain model of an underactuated underwater vehicle. The vehicle is modelled as a neutrally buoyant, prolate spheroid moving in the longitudinal plane. The two inputs are thrust along the symmetry axis and pitch moment. A linear reference model, which has the same vector relative degree of the system, is designed by linearizing the vehicle dynamics about a trim condition. A linear dynamic compensator is developed for the reference model, causing it to track a given bounded reference command. The input is augmented with an adaptive element and this adaptive control law is applied to the nonlinear system. The adaptive control law is realized using a linearly parameterized neural network which operates over a finite sample of the input-output history.

AB - Adaptive output feedback is applied to an uncertain model of an underactuated underwater vehicle. The vehicle is modelled as a neutrally buoyant, prolate spheroid moving in the longitudinal plane. The two inputs are thrust along the symmetry axis and pitch moment. A linear reference model, which has the same vector relative degree of the system, is designed by linearizing the vehicle dynamics about a trim condition. A linear dynamic compensator is developed for the reference model, causing it to track a given bounded reference command. The input is augmented with an adaptive element and this adaptive control law is applied to the nonlinear system. The adaptive control law is realized using a linearly parameterized neural network which operates over a finite sample of the input-output history.

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U2 - 10.1109/OCEANS.2005.1639776

DO - 10.1109/OCEANS.2005.1639776

M3 - Conference contribution

AN - SCOPUS:33947116494

SN - 0933957343

SN - 9780933957343

T3 - Proceedings of MTS/IEEE OCEANS, 2005

BT - Proceedings of MTS/IEEE OCEANS, 2005

T2 - MTS/IEEE OCEANS, 2005

Y2 - 18 September 2005 through 23 September 2005

ER -