Depth control using artifitial vision with time-delay of an AUV

Author

Campos, E. ; Torres, Juana ; Mondie, Sabine ; Lozano, Rogelio

Author_Institution

Autom. Control Dept., CINVESTAV, Mexico City, Mexico

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

Abstract

The purpose of this paper is to present the analysis of the dynamics immersion of an Autonomous Underwater Vehicle considering the time-delay produced by implementing artificial vision algorithm. The parameter tuning of the PD controller is based on the analysis of the stability region taking into account the vision delay. The PD controller goal is to keep the vehicle in a region close to the landmark, and the performance is shown in simulation and real-time experimental results.

Keywords

PD control; autonomous underwater vehicles; delay systems; robot vision; spatial variables control; vehicle dynamics; AUV time delay; PD controller; artificial vision algorithm; autonomous underwater vehicle; depth control; dynamic immersion; parameter tuning; stability region analysis; vision delay; Equations; Mathematical model; Real-time systems; Stability analysis; Underwater vehicles; Vectors; Vehicles; Control; Real-time experiments; Time-delay system; Underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4673-2170-9

Type

conf

DOI

10.1109/ICEEE.2012.6421170

Filename

6421170