An Adaptive Region Boundary-Based Control Scheme for an Autonomous Underwater Vehicle

被引：0
|
作者：
Ismail, Z. H. [1 ]
Dunnigan, M. W. [1 ]
机构：
[1] Heriot Watt Univ, Dept Elect Elect & Comp Engn, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Midlothian, Scotland
来源：
11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010) | 2010年
关键词：
Autonomous underwater vehicle; Set-point control; Region reaching control; Adaptive control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：324 / 329
页数：6
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