Adaptive region tracking control for autonomous underwater vehicle

This paper presents an adaptive region tracking control for Autonomous Underwater Vehicle (AUV). The AUV is required to track a moving region to accomplish a given task. The desired target is specified as a region rather than a point so that the control effort used to track the region is minimal. In...

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Bibliographic Details
Published in2010 11th International Conference on Control Automation Robotics and Vision pp. 2129 - 2134
Main Authors Li, X, Hou, S P, Cheah, C C
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Equations
Mathematical model
Symmetric matrices
Target tracking
Underwater vehicles
Vehicle dynamics
Vehicles
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ISBN1424478146
9781424478149
DOI10.1109/ICARCV.2010.5707863

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Summary:This paper presents an adaptive region tracking control for Autonomous Underwater Vehicle (AUV). The AUV is required to track a moving region to accomplish a given task. The desired target is specified as a region rather than a point so that the control effort used to track the region is minimal. In the applications where the accuracy is of utmost importance, the desired region can be chosen to be small so that the precision is not lost. The desired region can be scaled up or scaled down so that the AUV can adjust its position to suit the applications. A Lyapunov-like function is presented for the stability analysis. Simulation results on AUV with 6 degrees of freedom are presented to demonstrate the effectiveness of the proposed controller.
ISBN:1424478146
9781424478149
DOI:10.1109/ICARCV.2010.5707863