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

fYear

1999

fDate

1999

Firstpage

64

Lastpage

69

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CIRA.1999.809948

Filename

809948