Experimental study on a learning control system with bound estimation for underwater robots

Autonomous Robots

Volumn 3, Issue 2-3, 1996, Pages 187-194

  Choi, S K ^a,b   Yuh, J ^a,b  

^a University of Hawaii at Manoa   (United States)

^b IEEE

Author keywords

Adaptive control; Learning control; Underwater robot

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); PARAMETER ESTIMATION; ROBOT LEARNING; ROBOTICS; THREE TERM CONTROL SYSTEMS; UNDERWATER EQUIPMENT;

LEARNING CONTROL SYSTEMS; UNDERWATER ROBOTIC VEHICLES;

ROBOTS;

EID: 0030164638     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/BF00141154     Document Type: Article

References (27)

1. Adam, J.A. 1985. Probing beneath the sea. IEEE Spectrum, pp. 55-64.
2. Astrom, K.J. and Wittenmark, B. 1989. Adaptive Control, Addison Wesley.
3. Bellingham, J.G. and Chryssostomidis, C. 1993. Economic ocean survey capability with AUVs. Sea Technology, pp. 12-18.
4. Blidberg, D.R. 1991. Autonomous underwater vehicles: A tool for the ocean, unmanned systems. Spring, pp. 10-15.
5. Britton, P. 1995. Undersea explorers. Popular Science, pp. 39-42.
6. Brock, D.L., Montana, D.J., and Ceranowicz, A.Z. 1992. Coordination and control of multiple autonomous vehicles. Proc. 1992 IEEE Conf. Robotics and Automation, pp. 2725-2730.
7. Choi, S.K., Yuh, J., and Keevil, N. 1993. Design of omni-directional underwater robotic vehicle. Proc. IEEE Oceans. 1993.
8. Choi, S.K., Yuh, J., and Takashige, G. 1995. Development of the omni-directional intelligent navigator. IEEE Robotics and Automation Magazine, pp. 44-53.
9. Cristi, R., Papoulias, F.A., and Healey, A.J. 1991. Adaptive sliding mode control of autonomous underwater vehicles in the dive plane. IEEE J. of Oceanic Engineering, 15(3):462-470.
10. Dane, A. 1993. Robots of the deep. Popular Mechanics, pp. 104-105.
11. Dougherty, F. and Woolweaver, G. 1990. At sea testing of an underwater vehicle flight control system. Proc. AUV'90, pp. 51-59.
12. Fossen, T.I. 1991. Nonlinear Modeling and Control of Underwater Vehicles. Dr. Ing Thesis, NIT.
13. Fossen, T.I. 1995. Underwater vehicle dynamics. Underwater Robotic Vehicles: Design and Control, Yuh (ed.), pp. 15-40.
14. Goheen, K.R. and Jefferys, E.R. 1990. Multivariable self-tuning autopilots for autonomous and remotely operated underwater vehicles. IEEE J. of Oceanic Engr., 15(3):144-151.
15. Healey, A.J. and Marco, D.B. 1992. Slow speed flight control of autonomous underwater vehicles: Experimental results with NPS AUV II. Proc. ISOPE, pp. 523-532.
16. Kato, N., Ito, Y., Kojima, J., Asakawa, K., and Shirasaki, Y. 1993. Guidance and control of autonomous underwater vehicle AQUA explorer 1000 for inspection of underwater cables. Proc. 8th Int'l. Sym. on Unmanned, Untethered Submersible Technology.
17. Lewis, D.J., Lipscomb, J.M., and Thompson, PG. 1984. The simulation of remotely operated underwater vehicles. ROV'84, pp. 245-252.
18. Mahesh, H., Yuh, J., and Lakshmi, R. 1991. A coordinated control of an underwater vehicle and robotic manipulator. J. of Robotic Systems, 8(3):339-370.
19. Nomoto, M. and Hattori, M. 1986. A deep ROV, dolphin 3K: Design and performance analysis. IEEE Journal of Oceanic Engineering, V/OE-11(3):373-391.
20. Sagatun, S.I. 1992. Modeling and control of underwater vehicles: Lagrangian approach. Dr. Ing. Thesis, Norwegian Institute of Technology.
21. Tucker, J.B. 1986. Submersibles reach new depths. High Technology, pp. 17-24.
22. Yoerger, D.N. and Slotine, J.E. 1985. Robust trajectory control of underwater vehicles. IEEE J. of Oceanic Engineering, OE-10(4):462-470.
23. Yuh, J. 1990a. A neural net controller for underwater robotic vehicles. IEEE J. Oceanic Engineering, 15(3):161-166.
24. Yuh, J. 1990b. Modeling and control of underwater robotic vehicles. IEEE Trans. Sys., Man and Cyber., 20(6).
25. Yuh, J. 1994. Learning control for underwater robotic vehicles. IEEE Control Systems Magazine, pp. 39-46.
26. Yuh, J. (ed.) 1995. Underwater Robotic Vehicles: Design and Control, TSI Press.
27. Yuh, J. 1995. Development of underwater robotics. 7995 IEEE Conference on Robotics and Automation, Nagoya, Japan.