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Controller design for an autonomous underwater vehicle using nonlinear observers
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 Title & Authors
Controller design for an autonomous underwater vehicle using nonlinear observers
Negahdaripour, Shahriar; Cho, So-Hyung; Kim, Joon-Young;
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 Abstract
The depth and heading control of an autonomous underwater vehicle (AUV) are considered to follow the predetermined depth and heading angle. The proposed control algorithm was based on a sliding mode control, using estimated hydrodynamic coefficients. The hydrodynamic coefficients were estimated employing conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. Using the estimated coefficients, a sliding mode controller was constructed for a combined diving and steering maneuver. The simulated results of the proposed control system were compared with those of a control system that employed true coefficients. This paper demonstrated the proposed control system, and discusses the mechanisms that make the system stable and accurately follow the desired depth and heading angle in the presence of parameter uncertainty.
 Keywords
Autonomous underwater vehicle (AUV);Hydrodynamic coefficients;Extended Kalman filter;Sliding mode observer;Sliding mode control;
 Language
English
 Cited by
1.
고속 자율 무인잠수정 적용을 위한 MEMS 기술기반 자세 측정 장치 개발,황아롬;안남현;윤선일;

해양환경안전학회지, 2013. vol.19. 6, pp.666-673 crossref(new window)
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Development of Attitude Heading Reference System based on MEMS for High Speed Autonomous Underwater Vehicle, Journal of the Korean Society of Marine Environment and Safety, 2013, 19, 6, 666  crossref(new windwow)
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Cooperative formation control of autonomous underwater vehicles: An overview, International Journal of Automation and Computing, 2016, 13, 3, 199  crossref(new windwow)
3.
Employing nonlinear observer for formation control of AUVs under communication constraints, International Journal of Intelligent Unmanned Systems, 2015, 3, 2/3, 122  crossref(new windwow)
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