Title :
Control-oriented modelling of a hybrid AUV
Author :
Caiti, Andrea ; Calabrò, Vincenzo
Author_Institution :
Dept. of Electr. Syst. & Autom., Univ. of Pisa, Pisa, Italy
Abstract :
This paper introduces a control-oriented model for a class of autonomous underwater vehicles (AUVs) characterized by an actuation system that includes propellers, internal weight motion and ballast charge/discharge. Since this kind of actuation combines the actuation of both oceanic gliders and self-propelled AUVs, these vehicles are termed hybrid vehicles. The modelling results are employed in the definition of an adaptive backstepping control, using a fuzzy approximator in terms of Gaussian function in order to cope with model uncertainties and disturbances. Lyapunov stability of the control is proved and simulations are shown for a typical water sampling operation.
Keywords :
Gaussian processes; Lyapunov methods; adaptive control; fuzzy set theory; hybrid electric vehicles; oceanographic equipment; propellers; remotely operated vehicles; underwater vehicles; Gaussian function; Lyapunov stability; actuation system; adaptive backstepping control; autonomous underwater vehicle; ballast charge; ballast discharge; control-oriented modelling; fuzzy approximator; hybrid AUV; hybrid vehicle; internal weight motion; model uncertainty; oceanic glider; propeller; self-propelled AUV; water sampling; Adaptive control; Backstepping; Electronic ballasts; Fuzzy control; Marine vehicles; Motion control; Programmable control; Propellers; Remotely operated vehicles; Underwater vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509365
