Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function

• Main Authors: Ismail, Zool Hilmi, Mokhar, B. M., Dunnigan, M. W.
• Format: Book Section
• Published: IEEE 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/21103/; http://ieeexplore.ieee.org/document/6263426/
• Institution: Universiti Teknologi Malaysia

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...