Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle

• Main Authors: Hussain, N.A.A., Ali, S.S.A., Ridao, P., Cieslak, P., Al-Saggaf, U.M.
• Format: Article
• Published: Institute of Electrical and Electronics Engineers Inc. 2020
• Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85097383471&doi=10.1109%2fACCESS.2020.3037122&partnerID=40&md5=04a558ce36cf433d508747a0f3909770; http://eprints.utp.edu.my/23321/

This paper presents the development of unmanned marine robotic control modelling and control synthesis using a coupled multivariable underactuated nonlinear adaptive U-model approach. The proposed controller was developed using thru an open source robot operating system (ROS) platform. The new adapt...