Title :
Adaptive control of an autonomous underwater vehicle: experimental results on ODIN
Author :
Antonelli, Gianluca ; Chiaverini, Stefano ; Sarkar, Nilanjan ; West, Michael
Author_Institution :
Dipt. di Inf. e Sistemistica, Naples Univ., Italy
Abstract :
This paper presents a six degree-of-freedom adaptive controller for autonomous underwater vehicles (AUVs). The proposed control law adopts quaternions to represent attitude errors and thus avoids representation singularities that occur when using Euler angle description of orientation. The adaptive controller has been implemented and experimentally validated on ODIN (Omni-Directional Intelligent Navigator)-an AUV that has been designed and built at the University of Hawaii
Keywords :
adaptive control; errors; intelligent control; remotely operated vehicles; stability; underwater vehicles; Euler angle description; ODIN; Omni-Directional Intelligent Navigator; adaptive control; attitude errors; autonomous underwater vehicle; orientation; quaternions; six DOF adaptive controller; six degree-of-freedom controller; Adaptive control; Attitude control; Navigation; Programmable control; Quaternions; Remotely operated vehicles; Symmetric matrices; Underwater vehicles; Vectors; Vehicle dynamics;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-5806-6
DOI :
10.1109/CIRA.1999.809948
