Underwater Robots - Gianluca Antonelli.pdf

76 3. Dynamic Control of 6-DOF AUVs
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Fig. 3.17. Comparison of the control law A and the control law E in thesecond case
study. Left column: Time history of measured roll angles (solid line) and the desired
(dashed line); top, control law A , bottom, control law E . Right column: Time
history of the restoring moment around x b (dashed), the corresponding integral
action of the control law A (top, solid line) and the corresponding adaptive action
of the control law E (bottom, solid line)