An Optimal Consensus Tracking Control Algorithm For Autonomous Underwater Vehicles With Disturbances
نویسندگان
چکیده
منابع مشابه
An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances
The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solvi...
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This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملTracking Control of Autonomous Underwater Vehicles
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متن کاملControl of Autonomous Underwater Vehicles
a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electric...
متن کاملAdaptive Control for Autonomous Underwater Vehicles
We describe a novel integration of Planning with Probabilistic State Estimation and Execution. The resulting system is a unified representational and computational framework based on declarative models and constraintbased temporal plans. The work is motivated by the need to explore the oceans more cost-effectively through the use of Autonomous Underwater Vehicles (AUV), requiring them to be goa...
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ژورنال
عنوان ژورنال: International Journal of Instrumentation and Control Systems
سال: 2012
ISSN: 2249-1147
DOI: 10.5121/ijics.2012.2204