Title :
Adaptive control of an autonomous underwater vehicle: experimental results on ODIN
Author :
Antonelli, Gianluca ; Chiaverini, Stefano ; Sarkar, Nilanjan ; West, Michael
Author_Institution :
Dept. di Autom. Elettromagnetismo Ingegneria dell´´Inf. e Matematica Ind., Cassino Univ., Italy
fDate :
9/1/2001 12:00:00 AM
Abstract :
This paper presents a six-degrees-of-freedom controller for autonomous underwater vehicles. The control algorithm is adaptive in the dynamic parameters that are poorly known and time-varying in the underwater environment. Moreover, the proposed control law adopts quaternions to represent attitude errors, and thus avoids representation singularities that occur when using instead Euler angles description of the orientation. The adaptive controller has been successfully implemented and experimentally validated on omnidirectional intelligent navigator (ODIN), an autonomous underwater vehicle that has been designed and built at the University of Hawaii. The experimental results demonstrate the good performance of the proposed controller within the constraints of the sensory system
Keywords :
adaptive control; intelligent control; mobile robots; navigation; position control; time-varying systems; underwater vehicles; University of Hawaii; adaptive control; autonomous underwater vehicle; mobile robots; omnidirectional intelligent navigator; position control; quaternions; time-varying systems; Adaptive control; Attitude control; Error correction; Intelligent sensors; Intelligent vehicles; Navigation; Programmable control; Quaternions; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Control Systems Technology, IEEE Transactions on