Soft computing design of a linear quadratic gaussian controller for an unmanned surface vehicle

14th Mediterranean Conference on Control and Automation, MED'06

Volumn , Issue , 2006, Pages

  Naeem, Wasif ^a   Sutton, Robert ^a   Chudley, John ^a  

^a UNIVERSITY OF PLYMOUTH   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

ACQUIRED VEHICLE DATA; GAUSSIAN CONTROLLER; UNMANNED SURFACE VEHICLE (USV);

COMPUTER SIMULATION; CONTROL EQUIPMENT; FUZZY LOGIC; GAUSSIAN DISTRIBUTION; PROBLEM SOLVING;

UNMANNED VEHICLES;

EID: 35948935721     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/MED.2006.328775     Document Type: Conference Paper

References (14)

1. MIT-website. (2005) AutoCat Autonomous Surface Craft, vehicle-specASC.html. [Online]. Available: http://auvlab.mit.edu/vehicles/
2. T. Vaneck, "Fuzzy Guidance Controller for an Autonomous Boat," IEEE Control Systems Magazine, vol. 17, no. 2, pp. 43-51, April 1997.
3. H. Loeb, S. Ygorra, and M. Mansion, "New Hydrographic Automated Vehicle: Design of a High Precision Track Keeping Controller," in Proceedings of 3rd IFAC Workshop on Control Applications in Marine Systems, ser. CAMS. Trondheim, Norway: IFAC, May 1995.
4. J. Majohr, T. Buch, and C. Korte, "Navigation and Automatic Control of the Measuring Dolphin (MessinTM)," in Proceedings of 5th IFAC Conference on Manoeuvring and Control of Marine Craft. Aalborg, Denmark: IFAC, August 2000.
5. Yamaha-Motor-Co. (2000) World's First Unmanned Ocean Atmosphere Observation Boat Kan-chan. observation.html. [Online]. Available: http://www.yamaha-motor.co.jp/global/news/2000/04/13/
6. A. Pascoal, P. Oliveira, C. Silvestre, L. Sebastiao, M. Rufino, V. Barroso, J. Gomes, G. Ayela, P. Coince, M. Cardew, A. Ryan, H. Braithwaite, N. Cardew, J. Trepte, N. Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitie, R. Santos, F. Cardigos, M. Brussienx, and P. Dando, "Robotic Ocean Vehicles for Marine Science Applications: the European ASIMOV Project," in Proceedings of OCEANS 2000 MTS/IEEE, vol. 1. Providence, Rhode Island, USA: MTS/IEEE, September 2000, pp. 409-415.
7. Z.J.Shao, H. Wang, Y. Zhu, and J. Qian, "Multivariable Optimal Control with Adaptation Mechanism in Rudder/Fin Stabilizing System," in Proc. IEEE International Conf Industrial Technology. IEEE, December 1994, pp. 53-57.
8. D. Loebis, R. Sutton, J. Chudley, and W. Naeem, "Adaptive Tuning of a Kalman Filter via Fuzzy Logic for an Intelligent AUV Navigation System," Control Engineering Practice, vol. 12, no. 12, pp. 1531-1539, 2004.
9. D. Loebis, R. Sutton, and J. Chudley, "A Fuzzy Kalman Filter Optimized Using a Multiobjective Genetic Algorithm for Enhanced Autonomous Underwater Vehicle Navigation," Proceedings of the Institution of Mechanical Engineers, Part M, vol. 218, no. MI, pp. 53-69, 2004.
10. W. Naeem, T. Xu, R. Sutton, and J. Chudley, "Design of an Unmanned Surface Vehicle for Environmental Monitoring," in Proceedings of World Maritime Technology Conference. London, UK: IMarEST, March 2006.
11. W. Naeem, "Guidance and Control of an Autonomous Underwater Vehicle," Ph.D. dissertation, School of Engineering, University of Plymouth, Plymouth, UK, October 2004.
12. L. Ljung, System Identification, Theory for the User; 2nd ed. Prentice Hall PTR, 1999.
13. R. Mehra, "On the Identification of Variances and Adaptive Kalman Filtering," IEEE Transactions on Automatic Control, vol. AC-15, no. 2, pp. 175-184, 1970.
14. A. Mohamed and K. Schwarz, "Adaptive Kalman filtering for INS/GPS," Journal of Geodesy, vol. 73, pp. 193-203, 199.