Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
This paper presents a new adaptive region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The proposed controller enables an AUV to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite...
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| வடிவமà¯: | Book Section |
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IEEE
2012
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| பகà¯à®¤à®¿à®•à®³à¯: | |
| நிகழà¯à®¨à®¿à®²à¯ˆ அணà¯à®•à®²à¯: | http://eprints.utm.my/21103/ http://eprints.utm.my/21103/ http://eprints.utm.my/21103/ |
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| தொகà¯à®ªà¯à®ªà¯: | This paper presents a new adaptive region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The proposed controller enables an AUV to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the entire boundaries. The AUV also navigates into a specific position on the boundary lines or surfaces while the target itself is moving. A Lyapunov-like function is presented for convergence analysis of the AUV. Simulation results on AUV with 6 degrees-of-freedom are presented to illustrate the performance of the proposed controller. |
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