DocumentCode
646020
Title
Region reaching controller for Autonomous Underwater Vehicle without velocity measurement
Author
Mukherjee, Kingshuk ; Kar, I.N. ; Bhatt, R.K.P.
Author_Institution
Dept. of Electr. Eng., Indian Inst. of Technol. Delhi, New Delhi, India
fYear
2013
fDate
17-19 July 2013
Firstpage
4377
Lastpage
4381
Abstract
This paper addresses the problem of region reaching by using the concept of potential energy of the specified region, for an Autonomous Underwater Vehicle (AUV). The six degrees of freedom AUV model has been exploited with Euler angle representation. The control law incorporates high filtered version of position error to regulate the system without velocity measurement. The proposed control law ensures stability in Lyapunov sense and simulation results shows the convergence of positional error.
Keywords
Lyapunov methods; autonomous underwater vehicles; convergence; stability; AUV model; Euler angle representation; Lyapunov method; autonomous underwater vehicle; convergence; degree of freedom; position error; region reaching controller; stability; Damping; Manipulators; Underwater vehicles; Vehicle dynamics; Vehicles; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2013 European
Conference_Location
Zurich
Type
conf
Filename
6669217
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