{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:13:38Z","timestamp":1762521218617,"version":"3.34.0"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,1,1]],"date-time":"2009-01-01T00:00:00Z","timestamp":1230768000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, two adaptive proportional-derivative (PD) control laws are proposed for autonomous underwater vehicle (AUV). The proposed adaptive controllers require only model of gravity and buoyancy regressor matrix and do not need any knowledge of inertia matrix, Coriolis and centripetal force, hydrodynamic damping, and the parameters of the gravity and buoyancy force. Hence, the proposed controllers have the advantages of simplicity and ease of implementation. We shall also prove that the setpoint controller is a special case of the region reaching controller when a desired region is reduced to a point. Furthermore, the inverse Jacobian matrix is not required in the control laws. Lyapunov-like functions are proposed for the stability analysis. Simulations are presented to demonstrate the effectiveness of the proposed controllers.<\/jats:p>","DOI":"10.1017\/s0263574708004566","type":"journal-article","created":{"date-parts":[[2008,4,28]],"date-time":"2008-04-28T10:56:00Z","timestamp":1209380160000},"page":"119-129","source":"Crossref","is-referenced-by-count":21,"title":["Adaptive control schemes for autonomous underwater vehicle"],"prefix":"10.1017","volume":"27","author":[{"given":"Yeow Cheng","family":"Sun","sequence":"first","affiliation":[]},{"given":"Chien Chern","family":"Cheah","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,1,1]]},"reference":[{"key":"S0263574708004566_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/9.701091"},{"key":"S0263574708004566_ref18","first-page":"2577","volume-title":"IEEE Conference on Robotics and Automation","author":"Cheah","year":"2006"},{"key":"S0263574708004566_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2003.823312"},{"key":"S0263574708004566_ref8","first-page":"397","volume-title":"MTS\/IEEE Conference Exhibition","author":"Zhao","year":"2001"},{"key":"S0263574708004566_ref12","doi-asserted-by":"crossref","unstructured":"12. Fjellstad O. E. and Fossen T. I. , \u201cQuaternion Feedback Regulation of Underwater Vehicles,\u201d Proceedings of the Third IEEE Conference on Control Applications, Glasgow, Scotland (1994) Vol. 2, pp. 857\u2013862.","DOI":"10.1109\/CCA.1994.381209"},{"volume-title":"Guidance and Control of Ocean Vehicles","year":"1994","author":"Fossen","key":"S0263574708004566_ref1"},{"key":"S0263574708004566_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/70.86088"},{"key":"S0263574708004566_ref20","doi-asserted-by":"crossref","unstructured":"20. Sun Y. C. and Cheah C. C. , \u201cRegion reaching control for underwater vehicle with onboard manipulator,\u201d IET Control Theory & Applications, (accepted).","DOI":"10.1049\/iet-cta:20070072"},{"key":"S0263574708004566_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/9.14411"},{"key":"S0263574708004566_ref7","doi-asserted-by":"crossref","unstructured":"7. Yuh J. , Nie J. and Lee C. S. G. , \u201cExperimental Study on Adaptive Control of Underwater Robots,\u201d Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI (1999) pp. 393\u2013398.","DOI":"10.1109\/ROBOT.1999.770010"},{"key":"S0263574708004566_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.909808"},{"key":"S0263574708004566_ref3","doi-asserted-by":"crossref","unstructured":"3. Whitcomb L. L. g, \u201cUnderwater Robotics: Out of the Research Laboratory and Into the Field,\u201d Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA (2000) pp. 709\u2013716.","DOI":"10.1109\/ROBOT.2000.844135"},{"key":"S0263574708004566_ref6","doi-asserted-by":"crossref","unstructured":"6. Fossen T. I. and Sagatun S. I. , \u201cAdaptive Control of Nonlinear Underwater Robotic Systems,\u201d Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA (1991) pp. 1687\u20131694.","DOI":"10.1109\/ROBOT.1991.131862"},{"key":"S0263574708004566_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/70.210803"},{"key":"S0263574708004566_ref10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620080307"},{"key":"S0263574708004566_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/21.61218"},{"key":"S0263574708004566_ref16","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780198562917.001.0001","volume-title":"Control Theory of Non-linear Mechanical Systems. A Passivity-based and Circuit-theoretic Approach","author":"Arimoto","year":"1996"},{"key":"S0263574708004566_ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139651"},{"key":"S0263574708004566_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.814517"},{"key":"S0263574708004566_ref13","first-page":"783","volume-title":"Robotics Research: First International Symposium","author":"Arimoto","year":"1984"},{"volume-title":"Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles","year":"2002","author":"Fossen","key":"S0263574708004566_ref2"},{"key":"S0263574708004566_ref22","doi-asserted-by":"crossref","unstructured":"22. Choi S. , Yuh J. and Keevil N. , \u201cDesign of omni-directional underwater robotic vehicle,\u201d OCEANS '93. \u2018Engineering in Harmony with Ocean\u2019. Proceedings Victoria, BC, Canada, (Oct. 18\u201321, 1993), Vol. 1, pp. I192\u2013I197.","DOI":"10.1109\/OCEANS.1993.326009"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004566","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T22:45:23Z","timestamp":1738190723000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004566\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,1]]},"references-count":22,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2009,1]]}},"alternative-id":["S0263574708004566"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004566","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2009,1]]}}}