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...

The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonom...

Underwater Sensor Networks (UWSN) are gaining increasing importance. The main constituents of UWSN are Static Acoustic sensor nodes and Autonomous Underwater Vehicles. The sensor nodes located in a particular depth are to pass the data to the sinks. As acoustic transmission range is limited, the information has to be routed via many hops. We are proposing a distance based routing scheme for suc...

In this paper, we present a 3D formation control scheme for group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct sort star-topology acoustic communication network where the USV is at center point. Due to kind topological feature, paper applies virtual school concept. This geometric graph each node...

Fuel cells are an emerging energy conversion device which offer improved efficiency, low noise and reduced emissions. Imperial College have been asked to evaluate fuel cell system options for autonomous vehicles, and to consider the impact of military relevant fuels on fuel cell performance. Discussions with Rolls-Royce and Dstl have recently agreed two classes of application; fuel cells for au...

In order to take measurements in space and time from the undersampled vast ocean, it is necessary to employ multiple autonomous underwater vehicles, such as gliders, that communicate and coordinate with each other. These vehicles need to form a team in a specific formation, steer through the 3D region of interest, and take application-dependent measurements such as temperature and salinity. In ...

We describe an approach to decentralized control and distributed data fusion that enables a team of autonomous underwater vehicles to cooperatively and autonomously localize and track a source of acoustic noise, and we report on field experiments that demonstrate the efficacy of our approach. A principal challenge of subsea coordination is the the extremely low-bandwidth acoustic communication ...