Virtual tracking control of underwater vehicles based on error injection and adaptive gain

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...

Tracking Control of Autonomous Underwater Vehicles

THESIS Approved for public release; distribution is unlimited. Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or ...

Adaptive Control for Guidance of Underwater Vehicles

Neural Net Based Nonlinear Adaptive Control for Autonomous Underwater Vehicles

Since the dynamics of autonomous underwater vehicles (AUVs) are highly nonlinear and their hydrodynamic coefficients vary with different operating conditions, a high performance control system of an AUV is needed to have the capacities of learning and adaptation to the variations of the AUV’s dynamics. In this paper, a linearly parameterized neural network (LPNN) is used to approximate the unce...

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...