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• W2765222002 startingPage "10658" @default.
• W2765222002 abstract "This paper presents the Robust Generalized Dynamic Inversion (RGDI) control system for Autonomous Underwater Vehicles (AUV)s. The outer (position) and the inner (attitude) loops of the control system utilize Generalized Dynamic Inversion (GDI) of two pre-specified asymptotically stable dynamics of the inertial position coordinates and the attitude angles, respectively. The outer loop provides the pitch and yaw tilting commands to the inner loop, which in turns generates values of the corresponding control surface deflections by which the vehicle’s position is controlled. Sliding mode control-based elements are included in the particular parts of the two GDI control loops, and they work to robustify the GDI control system against instabilities and performance deterioration due to unmodeled nonlinearities, parametric variations, and unknown bounded disturbances. A Lyapunov stability analysis of the proposed RGDI control law is presented, and a detailed six degrees of freedom mathematical model of the Monterey Bay Aquarium Research Institute AUV is used to evaluate the controller performance. Numerical simulations are conducted under both nominal and perturbed conditions to demonstrate robustness of the control design." @default.
• W2765222002 created "2017-11-10" @default.
• W2765222002 creator A5034544071 @default.
• W2765222002 creator A5042877702 @default.
• W2765222002 date "2017-07-01" @default.
• W2765222002 modified "2023-09-24" @default.
• W2765222002 title "Robust Generalized Dynamic Inversion Control of Autonomous Underwater Vehicles" @default.
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• W2765222002 doi "https://doi.org/10.1016/j.ifacol.2017.08.1757" @default.
• W2765222002 hasPublicationYear "2017" @default.
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