Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs
Singh, Shashi B. , Sanyal, Amit , Smith, Ryan N., Nordkvist, Nikolaj , & Chyba, Monique (2009) Robust tracking control of autonomous underwater vehicles in the presence of disturbance inputs. In ASME 2009 28th International Conference on Ocean, Offshore and Arctic Engineering (OMAE2009) Proceedings, American Society Mechanical Engineering, Honolulu, Hawaii, pp. 345-351.
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An autonomous underwater vehicle (AUV) is expected to operate in an ocean in the presence of poorly known disturbance forces and moments. The uncertainties of the environment makes it difficult to apply open-loop control scheme for the motion planning of the vehicle. The objective of this paper is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances. We solve a general problem of feedback trajectory tracking of an AUV in SE(3). The feedback control scheme is derived using Lyapunov-type analysis. The results obtained from numerical simulations confirm the asymptotic tracking properties of the feedback control law. We apply the feedback control scheme to different mission scenarios, with the disturbances being initial errors in the state of the AUV.
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|Item Type:||Conference Paper|
|Keywords:||Autonomous Underwater Vehicle, Control Theory, Tracking control, robust control|
|Subjects:||Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Calculus of Variations Systems Theory and Control Theory (010203)|
Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Dynamical Systems in Applications (010204)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2009 ASME|
|Deposited On:||25 Mar 2011 12:22|
|Last Modified:||25 Mar 2011 16:10|
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