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Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles

Ismail, Zool Hilmi and Sarman, N. and Dunnigan, M. W. (2012) Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles. 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://dx.doi.org/10.1109/OCEANS-Yeosu.2012.626342...

Abstract

This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.

Item Type:Book Section
Additional Information:Indexed by Scopus
Uncontrolled Keywords:adaptive control, dynamic region-boundary based control, edge-based segmentation approach, multiple autonomous underwater vehicles
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:35697
Deposited By:INVALID USER
Deposited On:30 Oct 2013 00:48
Last Modified:02 Feb 2017 05:33

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