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

ICRA 2024poster2 citations

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

Abstract

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 demonstrating 6-DOF trajectory tracking. The NS-ATTC algorithm does not require acceleration instrumentation and provides a stable online parameter estimate, enabling robust model-based autonomy.

BibTeX

@inproceedings{icra2024_nullspaceadaptiv,
  title = {Nullspace Adaptive Model-Based Trajectory-Tracking Control for a 6-DOF Underwater Vehicle with Unknown Plant and Actuator Parameters: Theory and Preliminary Simulation Evaluation},
  author = {Annie M. Mao and Joseph L. Moore and Louis L. Whitcomb},
  booktitle = {ICRA 2024},
  year = {2024}
}