Nullspace Adaptive Model-Based Trajectory-Tracking Control for a 6-DOF Underwater Vehicle with Unknown Plant and Actuator Parameters: Theory and Preliminary Simulation Evaluation
Annie M. Mao,Joseph L. Moore,Louis L. Whitcomb,Annie M. Mao,Joseph L. Moore,Louis L. Whitcomb
We report a novel model-based nullspace adaptive trajectory-tracking control (NS-ATTC) algorithm for fully-actuated 6-degree-of-freedom (DOF) underwater vehicles which estimates unknown plant and actuator model parameters simultaneously. We provide a stability and convergence analysis with proof of asymptotically stable tracking error convergence, as well as a preliminary simulation study demonstr...
