کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1726388 1520752 2011 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A region boundary-based control scheme for an autonomous underwater vehicle
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
A region boundary-based control scheme for an autonomous underwater vehicle
چکیده انگلیسی

This paper addresses the generalized set-point and region control problem for an underwater vehicle. It is known that the desired target is usually defined as a point or a region. However, in some applications, it is required to navigate the underwater vehicle to the surface or a boundary of a region. In this work, a novel control law is proposed for an autonomous underwater vehicle where the desired position is specified as a boundary in lieu of a region or a point. Hence, the system can be initialized from either inside or outside of the region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using the Lyapunov type approach. The simulation results illustrate the validity of the proposed control scheme.


► Adaptive region boundary-based control of an autonomous underwater vehicle.
► Use of least-squares estimation algorithm together with the inverse Jacobian matrix in the adaptive control law.
► Simulation case studies have been developed to demonstrate the validity of the proposed control laws.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 38, Issues 17–18, December 2011, Pages 2270–2280
نویسندگان
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