Title :
Motion Control System Architecture of Underwater Robot
Author :
Yong, Gan ; Yushan, Sun ; Lei, Wan ; Yongjie, Pang
Author_Institution :
Dept. of Naval Archit. & Oceanic Eng., Harbin Eng. Univ.
Abstract :
Motion control system architecture of underwater robot is presented, which includes hardware and software architecture. Considering the longitudinal velocity effects on the other dimensions of underwater robot, a nonlinear controller is presented. The stability is verified with Lyapunov function. In order to coordinate motions on different dimensions, a virtual sonar based guidance law is introduced which originates from the behavior of human beings. Finally, the reliability and feasibility of the motion control system are demonstrated by sea trial
Keywords :
Lyapunov methods; control engineering computing; mobile robots; motion control; nonlinear control systems; stability; underwater vehicles; Lyapunov function; hardware architecture; motion control system architecture; nonlinear controller; software architecture; stability; underwater robot; virtual sonar based guidance; Computer architecture; Hardware; Lyapunov method; Motion control; Robot control; Robot kinematics; Software architecture; Sonar; Stability; Velocity control; Guidance law; Motion controller; System architecture; Underwater robot;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713716
