Title :
Experimental study on adaptive control of underwater robots
Author :
Yuh, J. ; Nie, Jing ; Lee, C.S.G.
Author_Institution :
Autonomous Syst. Lab., Hawaii Univ., Honolulu, HI, USA
Abstract :
The control of underwater robots presents a number of unique and formidable challenges. Underwater robot dynamics are highly nonlinear, coupled, and time-varying, and subject to hydrodynamic uncertainties and external disturbances such as current. Unlike land mobile robots, underwater robots cannot use GPS. Most popular underwater positioning sensors are sonar-based, such as long-base line. However, autonomous processing of sonar measurements is plagued by noise, drop-outs, missed detection, false reading, poor resolution, etc. The paper presents a new adaptive control of underwater robots with sonar-based position measurements. Experimental results show robustness of the control system in the presence of unmodelled dynamics and various noise
Keywords :
MIMO systems; adaptive control; mobile robots; position measurement; robot dynamics; sonar; underwater vehicles; adaptive control; external disturbances; hydrodynamic uncertainties; robustness; sonar-based position measurements; underwater robots; unmodelled dynamics; Adaptive control; Couplings; Global Positioning System; Hydrodynamics; Mobile robots; Position measurement; Robot control; Robot sensing systems; Sonar detection; Sonar measurements;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770010
