Design of Globally Adaptive Stabilizer for Underwater Navigator
In this paper, the problem of adaptive stabilization of an underwater navigator with unknown parameters both in the state vector-field and the input vector-field has been considered. By employing the control Lyapunov function method and parameter projection techniques, a direct adaptive controller is designed to complete the globally adaptive stability of the navigator. Simulations are provided to illustrate the effectiveness of our proposed method.
Y. M. Chen "Design of Globally Adaptive Stabilizer for Underwater Navigator", Advanced Materials Research, Vols. 108-111, pp. 1119-1123, 2010