Robust Stabilization of Rotational Motion of Underwater Robots against Parameter Uncertainties

This paper provides a robust stabilization method
for rotational motion of underwater robots against parameter
uncertainties. Underwater robots are expected to be used for
various work assignments. The large variety of applications of
underwater robots motivates researchers to develop control systems
and technologies for underwater robots. Several control methods
have been proposed so far for the stabilization of nominal system
model of underwater robots with no parameter uncertainty. Parameter
uncertainties are considered to be obstacles in implementation of the
such nominal control methods for underwater robots. The objective
of this study is to establish a robust stabilization method for rotational
motion of underwater robots against parameter uncertainties. The
effectiveness of the proposed method is verified by numerical
simulations.

Authors:

• Riku Hayashida
• Tomoaki Hashimoto

Keywords:

• Robust control
• stabilization method
• underwater robot
• parameter uncertainty.

References:

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