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

Z. H. Ismail, M. W. Dunnigan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages317-323
Number of pages7
DOIs
Publication statusPublished - 2010
Event11th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duration: 7 Dec 201010 Dec 2010

Conference

Conference11th International Conference on Control, Automation, Robotics and Vision
Abbreviated titleICARCV 2010
CountrySingapore
CitySingapore
Period7/12/1010/12/10

Fingerprint

Robotics
Jacobian matrices
Manipulators

Keywords

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

Cite this

Ismail, Z. H., & Dunnigan, M. W. (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) https://doi.org/10.1109/ICARCV.2010.5707831
Ismail, Z. H. ; Dunnigan, M. W. / A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system. 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. 2010. pp. 317-323
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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

A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system. / Ismail, Z. H.; Dunnigan, M. W.

11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010. 2010. p. 317-323.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Ismail ZH, Dunnigan MW. 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. 2010. p. 317-323 https://doi.org/10.1109/ICARCV.2010.5707831