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Robust Diving Control of an AUV

Lionel Lapierre 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Mobile systems traveling through a complex environment present major difficulties in determining accurate dynamic models. Autonomous underwater vehicle motion in ocean conditions requires investigation of new control solutions that guarantee robustness against external parameter uncertainty. A diving-control design, based on Lyapunov theory and back-stepping techniques, is proposed and verified. Using adaptive and switching schemes, the control system is able to meet the required robustness. The results of the control system are theoretically proven and simulations are developed to demonstrate the performance of the solutions proposed.
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Submitted on : Friday, January 23, 2009 - 10:18:52 AM
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Lionel Lapierre. Robust Diving Control of an AUV. Ocean Engineering, Elsevier, 2008, 36 (1), pp.92-104. ⟨10.1016/j.oceaneng.2008.10.006⟩. ⟨lirmm-00355547⟩



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