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In this paper, an adaptive robust PD controller for Unmanned Underwater Vehicle (UUV) is proposed. Though conventional PD control is simple and effective for UUV heading control, in many circumstances, a large initial torque is required, while the maximum torque of the rudder is limited, thus making it unavailable to further improve the heading control effects. The adaptability and robustness of this...
For the UUV heading control, linear PD control is a simple and effective strategy, however, under most circumstances too large initial torque output is often provided to the rudder, and the maximum torque the rudder can bear is limited, which thus making the increase of the PD controller parameters as to further improve the heading control effects unavailable. In this paper, an adaptive robust PD...
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