A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system

Z. H. Ismail; M. W. Dunnigan

doi:10.1109/ICARCV.2010.5707831

A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system

Z. H. Ismail, M. W. Dunnigan

School of Engineering & Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to assess the effectiveness of the proposed control scheme. ©2010 IEEE.

Original language	English
Title of host publication	11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages	317-323
Number of pages	7
DOIs	https://doi.org/10.1109/ICARCV.2010.5707831
Publication status	Published - 2010
Event	11th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore Duration: 7 Dec 2010 → 10 Dec 2010

Conference

Conference	11th International Conference on Control, Automation, Robotics and Vision
Abbreviated title	ICARCV 2010
Country	Singapore
City	Singapore
Period	7/12/10 → 10/12/10

Keywords

Adaptive control
Region reaching control
Set-point control
Underwater vehicle-manipulator system

Access to Document

10.1109/ICARCV.2010.5707831

Link to publication in Scopus

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Cite this

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title = "A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system",

abstract = "A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to assess the effectiveness of the proposed control scheme. {\textcopyright}2010 IEEE.",

keywords = "Adaptive control, Region reaching control, Set-point control, Underwater vehicle-manipulator system",

author = "Ismail, {Z. H.} and Dunnigan, {M. W.}",

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doi = "10.1109/ICARCV.2010.5707831",

language = "English",

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note = "11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 ; Conference date: 07-12-2010 Through 10-12-2010",

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Ismail, ZH & Dunnigan, MW 2010, A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system. in 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. pp. 317-323, 11th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore, 7/12/10. https://doi.org/10.1109/ICARCV.2010.5707831

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AU - Dunnigan, M. W.

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AB - A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to assess the effectiveness of the proposed control scheme. ©2010 IEEE.

KW - Adaptive control

KW - Region reaching control

KW - Set-point control

KW - Underwater vehicle-manipulator system

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T2 - 11th International Conference on Control, Automation, Robotics and Vision

Y2 - 7 December 2010 through 10 December 2010

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