Title :
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
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;
Conference_Titel :
Robotics Symposium and Competition (LARS/LARC), 2013 Latin American
Conference_Location :
Arequipa
DOI :
10.1109/LARS.2013.61
