Title :
Depth control using artifitial vision with time-delay of an AUV
Author :
Campos, E. ; Torres, Juana ; Mondie, Sabine ; Lozano, Rogelio
Author_Institution :
Autom. Control Dept., CINVESTAV, Mexico City, Mexico
Abstract :
The purpose of this paper is to present the analysis of the dynamics immersion of an Autonomous Underwater Vehicle considering the time-delay produced by implementing artificial vision algorithm. The parameter tuning of the PD controller is based on the analysis of the stability region taking into account the vision delay. The PD controller goal is to keep the vehicle in a region close to the landmark, and the performance is shown in simulation and real-time experimental results.
Keywords :
PD control; autonomous underwater vehicles; delay systems; robot vision; spatial variables control; vehicle dynamics; AUV time delay; PD controller; artificial vision algorithm; autonomous underwater vehicle; depth control; dynamic immersion; parameter tuning; stability region analysis; vision delay; Equations; Mathematical model; Real-time systems; Stability analysis; Underwater vehicles; Vectors; Vehicles; Control; Real-time experiments; Time-delay system; Underwater vehicle;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on
Conference_Location :
Mexico City
Print_ISBN :
978-1-4673-2170-9
DOI :
10.1109/ICEEE.2012.6421170
