Control System Design for Autonomous Underwater Vehicle

Author

Pshikhopov, V.Kh. ; Medvedev, M.Yu. ; Gaiduk, A.R. ; Gurenko, B.V.

Author_Institution

Dept. of Electr. Sci. & Mechatron., Southern Fed. Univ., Taganrog, Russia

fYear

2013

fDate

21-27 Oct. 2013

Firstpage

77

Lastpage

82

Abstract

This paper presents adaptive control system for the autonomous underwater vehicle. A nonlinear interrelated dynamic model of the underwater vehicle is considered. The novelty of developed control system is in use of positional-trajectory control method. This means feasibility of Autonomous Underwater Vehicle in complicated trajectories with relatively small computational resources. Adaptation of the control system is based on robust disturbances estimation. Modeling results validate proposed methods.

Keywords

adaptive control; autonomous underwater vehicles; control system synthesis; nonlinear dynamical systems; robust control; trajectory control; adaptive control system; autonomous underwater vehicle; control system design; nonlinear interrelated dynamic model; positional-trajectory control method; robust disturbance estimation; Computational modeling; Force; Ocean temperature; Trajectory; Underwater vehicles; Vectors; adaptive control; estimations; underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium and Competition (LARS/LARC), 2013 Latin American

Conference_Location

Arequipa

Type

conf

DOI

10.1109/LARS.2013.61

Filename

6693274