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

Z. H. Ismail; M. W. Dunnigan

doi:10.1109/ICARCV.2010.5707832

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

Z. H. Ismail, M. W. Dunnigan

School of Engineering & Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages	324-329
Number of pages	6
DOIs	https://doi.org/10.1109/ICARCV.2010.5707832
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/Territory	Singapore
City	Singapore
Period	7/12/10 → 10/12/10

Keywords

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

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10.1109/ICARCV.2010.5707832

Cite this

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title = "An adaptive region boundary-based control scheme for an autonomous underwater vehicle",

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. {\textcopyright}2010 IEEE.",

keywords = "Adaptive control, Autonomous underwater vehicle, Region reaching control, Set-point control",

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

year = "2010",

doi = "10.1109/ICARCV.2010.5707832",

language = "English",

isbn = "9781424478132",

pages = "324--329",

booktitle = "11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010",

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, 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, 11th International Conference on Control, Automation, Robotics and Vision, Singapore, Singapore, 7/12/10. https://doi.org/10.1109/ICARCV.2010.5707832

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AU - Ismail, Z. H.

AU - Dunnigan, M. W.

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Adaptive control

KW - Autonomous underwater vehicle

KW - Region reaching control

KW - Set-point control

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U2 - 10.1109/ICARCV.2010.5707832

DO - 10.1109/ICARCV.2010.5707832

M3 - Conference contribution

SN - 9781424478132

SP - 324

EP - 329

BT - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010

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

Y2 - 7 December 2010 through 10 December 2010

ER -

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

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Keywords

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