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From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle

Abstract : This paper deals with an experimental comparison between a proportional derivative (PD) controller and an adaptive nonlinear state feedback one, both applied on a tethered autonomous underwater vehicle. The aim is to show the behavior of the closed loop system in the nominal case for each of these two controllers, and then to test their robustness towards some parameters changes. The PD on one hand has a good performance for systems with an unknown model. The adaptive control law on the other hand is known to adjust the unknown parameters of the plant in order to converge to the desired trajectory. This study shows experimental results performed using each of the above mentioned control laws.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00778061
Contributor : Divine Maalouf <>
Submitted on : Wednesday, February 6, 2013 - 7:00:16 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Long-term archiving on: : Tuesday, May 7, 2013 - 2:35:08 AM

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Divine Maalouf, Ivan Tamanaja, Eduardo Campos, Ahmed Chemori, Vincent Creuze, et al.. From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle. IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France. ⟨lirmm-00778061⟩

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