Adaptive region tracking control for autonomous underwater vehicle

Author

Li, X. ; Hou, S.P. ; Cheah, C.C.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore

fYear

2010

fDate

7-10 Dec. 2010

Firstpage

2129

Lastpage

2134

Abstract

This paper presents an adaptive region tracking control for Autonomous Underwater Vehicle (AUV). The AUV is required to track a moving region to accomplish a given task. The desired target is specified as a region rather than a point so that the control effort used to track the region is minimal. In the applications where the accuracy is of utmost importance, the desired region can be chosen to be small so that the precision is not lost. The desired region can be scaled up or scaled down so that the AUV can adjust its position to suit the applications. A Lyapunov-like function is presented for the stability analysis. Simulation results on AUV with 6 degrees of freedom are presented to demonstrate the effectiveness of the proposed controller.

Keywords

Lyapunov methods; adaptive control; mobile robots; remotely operated vehicles; stability; underwater vehicles; AUV; Lyapunov-like function; adaptive region tracking control; autonomous underwater vehicle; stability analysis; Equations; Mathematical model; Symmetric matrices; Target tracking; Underwater vehicles; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-7814-9

Type

conf

DOI

10.1109/ICARCV.2010.5707863

Filename

5707863