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A robust adaptive control algorithm is developed for a remotely operated vehicle (ROV) that maneuvers underwater. The robotic vehicle uses a joystick to control horizontal motion, with embedded sensors for automatic control of certain degrees-of-freedom (DOFs). The system employs an adaptive controller with bound estimation to provide robustness to parametric uncertainties and external disturbances...
Station keeping and trajectory tracking are necessary capabilities for underwater robotics vehicles (URVs), allowing them to maintain a reference position and orientation, or follow a reference path. Disturbances to the system are caused by wave-induced hydrodynamic forces acting on the vehicle, and sudden changes in parameters and operating variables. This can lead to degraded performance, accuracy,...
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