Title :
Modeling and control of underwater robotic vehicles
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
With the increased utilization of remotely operated vehicles in subsea applications, the development of autonomous vehicles becomes highly desirable to enhance operator efficiency. The dynamic model of an untethered remotely operated underwater vehicle is presented, and an adaptive control strategy for such vehicles is described. The robustness of the control system with respect to nonlinear dynamic behavior and parameter uncertainties is investigated by computer simulation. The results show that the use of the adaptive control system can provide high performance of the vehicle in the presence of unpredictable changes in the dynamics of the vehicle and its environment
Keywords :
adaptive control; control engineering computing; digital simulation; marine systems; mobile robots; telecontrol; adaptive control; marine systems; mobile robots; nonlinear dynamic behavior; parameter uncertainties; remotely operated vehicles; subsea; telecontrol; underwater robotic vehicles; Adaptive control; Control system synthesis; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Remotely operated vehicles; Robot control; Robust control; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
