Synthesis of underwater robots adaptive velocity control system

摘要

Self-tuning underwater robot's control system at the stepwise varies of its velocity is syntheses in this paper. This control system based on variable-structure system which working in sliding mode and allow to carry out self-tuning of a control system without directly measuring current parameters of the control object. Investigation of developed control system was carry out, which showed efficacy its control system. Copyright ~direct 2000 IFAC