Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles

Zool Ismail; N Sarman; Mathew Walter Dunnigan

doi:10.1109/OCEANS-Yeosu.2012.6263427

Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles

Zool Ismail, N Sarman, Mathew Walter Dunnigan

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

7 Citations (Scopus)

Abstract

This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.

Original language	English
Title of host publication	OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea
ISBN (Electronic)	978-145772089-5
DOIs	https://doi.org/10.1109/OCEANS-Yeosu.2012.6263427
Publication status	Published - 2012

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10.1109/OCEANS-Yeosu.2012.6263427

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title = "Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles",

abstract = "This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.",

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Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles. / Ismail, Zool; Sarman, N; Dunnigan, Mathew Walter.
OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea. 2012.

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

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AU - Sarman, N

AU - Dunnigan, Mathew Walter

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N2 - This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.

AB - This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.

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DO - 10.1109/OCEANS-Yeosu.2012.6263427

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BT - OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities; Yeosu; South Korea

ER -

Dynamic region boundary-based control scheme for Multiple Autonomous Underwater Vehicles

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