An adaptive region boundary-based control scheme for an autonomous underwater vehicle

Z. H. Ismail, M. W. Dunnigan

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

5 Citations (Scopus)

Abstract

A new control concept is proposed for an autonomous underwater vehicle (AUV) where the desired target is defined as a boundary rather than a point or a region. The inverse Jacobian is utilized in the adaptive control law for compensation of the persistent effects i.e.: the restoring forces. The unit quaternion representation is used for the AUVs attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to access 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
Pages324-329
Number of pages6
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

Keywords

  • Adaptive control
  • Autonomous underwater vehicle
  • Region reaching control
  • Set-point control

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  • Cite this

    Ismail, Z. H., & Dunnigan, M. W. (2010). An adaptive region boundary-based control scheme for an autonomous underwater vehicle. In 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 (pp. 324-329) https://doi.org/10.1109/ICARCV.2010.5707832