Coupled, non-linear control system design for autonomous underwater vehicle (AUV)

2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008

Volumn , Issue , 2008, Pages 2309-2313

  Santhakumar, M ^a   Asokan, T ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY MADRAS   (India)

Author keywords

AUV; Dynamics; Lyapunov; Nonlinear control; State space control

Indexed keywords

AUV; BACK-STEPPING; CONTROL PROBLEMS; CONTROLLER DESIGNS; CONVENTIONAL METHODS; DECOUPLED CONTROLS; INTELLIGENT CONTROL SYSTEMS; LYAPUNOV; MISSION SUCCESS; MODELLING ERRORS; MODERN DEVELOPMENT; NON-LINEAR; NON-LINEAR CHARACTERISTICS; NONLINEAR CONTROL; SIMULATION RESULTS; STATE SPACE CONTROL; STATE SPACES; UNDERWATER ROBOTS; UNDERWATER VEHICLE SYSTEMS; UNKNOWN ENVIRONMENTS;

AUTONOMOUS UNDERWATER VEHICLES; CONTROL SYSTEM ANALYSIS; DYNAMICS; ERRORS; INTELLIGENT CONTROL; LINEAR CONTROL SYSTEMS; NONLINEAR CONTROL SYSTEMS; ROBOTICS; SUBMERSIBLE MOTORS; SUBMERSIBLES; TELECOMMUNICATION NETWORKS; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; VIBRATION CONTROL; WATER CRAFT;

COMPUTER VISION;

EID: 64649099344     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICARCV.2008.4795893     Document Type: Conference Paper

References (11)

1. Yuh, J, "Design and Control of Autonomous Underwater Robots: A Survey", Autonomous Robots, Vol 8, pp 7-24, 2000.
2. Healey, A.J., Lienard, D., "Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles", IEEE Journal of Oceanic Engineering, Vol 18, 327-339, 1993.
3. Fossen, T, I, "Guidance and Control of Ocean Vehicles", John Wiley & Sons Ltd, ISBN: 0-471-94113-1, 1994.
4. Prestero, T., "Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicles", Masters Thesis, Department of Ocean Engineering and Mechanical Engineering, MIT,USA, 2001.
5. Choi, S K, and Yuh, J, "Experimental Study on a Learning Control System with Bound Estimation for Underwater Robots", Autonomous Robots, Vol 3, pp 187-194, 1996.
6. Ji-Hong Li and Pan Mook Lee, "Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle", Ocean Engineering, Vol.32, pp 2165-2181, 2005.
7. Desa, E, Pascoal, A and Pramod Maurya, "Control of the Maya AUV in the Vertical and Horizontal Planes: Theory and Practical Results", IFAC Conference MCMC2006 (Maneuvering & Control of Marine Craft), pp 20-22, 2006.
8. Pascoal, A, and C. Silvestre, "Depth control of the INFANTE AUV using Gain-scheduled reduced-order output feedback", Control Engineering Practice, Vol 15, 7, 2007, 883-895, 2007
9. Fossen, T, I and Fjellstad, O, E, (1995), "Robust Adaptive Control of Underwater Vehicle: A Comparative Study", IFAC Workshop on Control Applications in Marine Systems, pp 1-9.
10. Fossen, T, I, (2002), "Marine control Systems",Marine Cybernetics AS, ISBN 82-92356-00-2.
11. Asokan T, (2007), "Mathematical Modelling and Simulation of Autonomous Underwater Vehicle", Technical Report, IIT Madras.