Ismail, Zool Hilmi and Mokhar, B. M. and Dunnigan, M. W. (2012) Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function. In: Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities. IEEE, New York, USA. ISBN 978-145772089-5
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Official URL: http://ieeexplore.ieee.org/document/6263426/
Abstract
This paper presents a new adaptive region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The proposed controller enables an AUV to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the entire boundaries. The AUV also navigates into a specific position on the boundary lines or surfaces while the target itself is moving. A Lyapunov-like function is presented for convergence analysis of the AUV. Simulation results on AUV with 6 degrees-of-freedom are presented to illustrate the performance of the proposed controller.
| Item Type: | Book Section |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | autonomous underwater vehicle, dynamic region boundary-based control, edge-based segmentation approach, multiplicative potential energy function |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 21103 |
| Deposited By: | INVALID USER |
| Deposited On: | 03 Dec 2013 07:46 |
| Last Modified: | 07 Sep 2017 02:42 |
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