Title :
An adaptive region boundary-based control scheme for an autonomous underwater vehicle
Author :
Ismail, Z.H. ; Dunnigan, M.W.
Author_Institution :
Dept. of Electr., Electron., & Comput. Eng., Heriot-Watt Univ., Edinburgh, UK
Abstract :
A new control concept is proposed for an autonomous underwater vehicle (AUV) where the desired target is defined as a boundary rather than a point or a region. The inverse Jacobian is utilized in the adaptive control law for compensation of the persistent effects i.e.: the restoring forces. The unit quaternion representation is used for the AUVs attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to access the effectiveness of the proposed control scheme.
Keywords :
Jacobian matrices; Lyapunov methods; adaptive control; compensation; force control; remotely operated vehicles; underwater vehicles; AUV attitude representation; Lyapunov-like function; adaptive control law; adaptive region boundary-based control; autonomous underwater vehicle; compensation; inverse Jacobian; restoring force; stability analysis; unit quaternion representation; Equations; Jacobian matrices; Mathematical model; Quaternions; Underwater vehicles; Vehicle dynamics; Vehicles; Adaptive control; Autonomous underwater vehicle; Region reaching control; Set-point control;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707832
