Region Tracking Control of an Autonomous Underwater Vehicle without Velocity Measurement

被引：0
|
作者：
Mukherjee, Koena [1 ]
Kar, I. N. [1 ]
Bhatt, R. K. P. [1 ]
机构：
[1] Indian Inst Technol Delhi, Dept Elect Engn, Delhi 110016, India
来源：
2014 PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION & CONTROL (ICMIC) | 2014年
关键词：
CONTROL SCHEME;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a region tracking controller has been proposed for an autonomous underwater vehicle (AUV) to ensure tracking within a constrained region. During tracking only position measurements are considered to be available. A pseudo velocity signal is generated using a filter to compensate for the velocity signal. A Lyapunov function has been utilized to prove the stability of the closed loop system. The controller ensures Uniformly Ultimately Bounded stability of the system states. Simulation results prove the effectiveness of the proposed controller.
引用
收藏
页码：213 / 218
页数：6
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