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Adaptive tracking control scheme for an autonomous underwater vehicle subject to a union of boundaries

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Title Adaptive tracking control scheme for an autonomous underwater vehicle subject to a union of boundaries
 
Creator Ismail, Zool Hilmi
Mokhar, Mohd Bazli Mohd
 
Subject Multiplicative potential energy function
Dynamic region boundary-based control
Autonomous underwater vehicle
 
Description 999-1005
Present study presents a novel region boundary-based tracking
control for an Autonomous Underwater Vehicle (AUV). The control objective is to
track a moving target formed by the union of all boundaries. In this case,
multiplicative potential energy function is used to unite all the boundaries
and various shapes can be created using this function. It is interesting to
note that the AUV will be placed at a specific position on the dynamic region
boundaries. A
Lyapunov-like function is presented for stability analysis of the AUV. Simulation studies will be performed to illustrate the effectiveness
of the proposed controller.
 
Date 2014-01-10T11:55:07Z
2014-01-10T11:55:07Z
2013-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/25472
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.42(8) [December 2013]