Automated Ballast Tank Control System for Autonomous Underwater Vehicles

Control 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...

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

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...

Decentralized Control System Simulation for Autonomous Underwater Vehicles

Adaptive 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...

Control Architectures for Autonomous Underwater Vehicles

utonomous Underwater Vehicles (AUVs) share common A control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four...