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Conference Papers Year : 2006

Robust Diving Control of an AUV


The difficulty of accurately modeling a mobile system traveling in a complex environment such the ocean means investigating new control solutions which guarantees robustness against parameter uncertainty. This paper proposes a diving-control design based on Lyapunov theory and backstepping techniques. Two different methods are proposed, based on an adaptive and on a switching scheme to meet robustness requirements. The results are formally shown, and simulations illustrate the performances of the solutions proposed.
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Dates and versions

lirmm-00128024 , version 1 (30-01-2007)


  • HAL Id : lirmm-00128024 , version 1


Lionel Lapierre, Vincent Creuze, Bruno Jouvencel. Robust Diving Control of an AUV. MCMC'06: Manoeuver and Control of Marine Craft, 2006, Lisbon (Portugal), France. pp.6. ⟨lirmm-00128024⟩
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