Adaptive tracking control scheme for an autonomous underwater vehicle subject to a union of boundaries

被引：0

作者：

Ismail, Zool Hilmi ^{[1
]}

Mokhar, Mohd Bazli Mohd ^{[2
]}

机构：

[1] Univ Teknol Malaysia, Ctr Artificial Intelligence & Robot CAIRO, Robot Res Grp, Kuala Lumpur 54100, Malaysia

[2] Univ Teknol Malaysia, Fac Elect Engn, Skudai 81310, Malaysia

来源：

INDIAN JOURNAL OF GEO-MARINE SCIENCES | 2013年 / 42卷 / 08期

关键词：

Multiplicative potential energy function; dynamic region boundary-based control; autonomous underwater vehicle;

D O I：

暂无

中图分类号：

P7 [海洋学];

学科分类号：

0707 ;

摘要：

Present study presents a novel region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The control objective is to track a moving target formed by the union of all boundaries. In this case, multiplicative potential energy function is used to unite all the boundaries and various shapes can be created using this function. It is interesting to note that the AUV will be placed at a specific position on the dynamic region boundaries. A Lyapunov-like function is presented for stability analysis of the AUV. Simulation studies will be performed to illustrate the effectiveness of the proposed controller.

引用

页码：999 / 1005

页数：7

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