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

Volume

1

fYear

1999

fDate

1999

Firstpage

393

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770010

Filename

770010