Title :
Adaptive Position and Attitude Tracking of an AUV in the Presence of Ocean Current Disturbances
Author :
Haghi, Poorya ; Naraghi, Mahyar ; Vanini, Seyyed Ali Sadough
Author_Institution :
Dept. of Mech. Eng., Amirkabir Univ. of Technol., Tehran
Abstract :
The problem of tracking the position and attitude of an autonomous underwater vehicle (AUV) in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account, saturation of rudders is examined, and a condition under which saturation will not occur is derived by simulation studies. The effectiveness of the adaptive controller is compared with a feedback linearization approach.
Keywords :
adaptive control; attitude control; feedback; linearisation techniques; position control; remotely operated vehicles; underwater vehicles; AUV; adaptive controller; attitude tracking; autonomous underwater vehicle; feedback linearization; ocean current disturbances; position tracking; rudders; Adaptive control; Control systems; Feedback; Marine vehicles; Oceans; Programmable control; Sliding mode control; Uncertainty; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
DOI :
10.1109/CCA.2007.4389321
