@article{Antonelli2007,
  author = {Antonelli, Gianluca},
  title = {On the use of adaptive/integral actions for six-degrees-of-freedom control of autonomous underwater vehicles},
  journal = {IEEE Journal of Oceanic Engineering},
  volume = {32},
  number = {2},
  doi = {10.1109/JOE.2007.893685},
  issn = {ISSN(print='03649059', electronic=None)},
  abstract = {In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to the persistent effects is discussed. Moreover, for each controller, an adaptive/integral proportional derivative (PD) plus gravity compensation-like version is derived and eventually modified so as to achieve null steady-state error under modeling uncertainty and presence of ocean current. Numerical simulations are presented to better illustrate the controllers' behavior. © 2007 IEEE.},
  year = {2007},
}

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