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Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs....
In order to enhance learning efficiency and to deal with the periodic vibration sources, a proposition difference type iterative learning control algorithm is proposed. The PD ILC in the two degree ldquomass spring dampingrdquo mount active solution is vestigated to instead the passive solution. With the method, the performance at low frequencies has been improved specifically. Simulation shows that...
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