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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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/
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Institution:	Universiti Teknologi Malaysia

id	my.utm.21103
record_format	eprints
spelling	my.utm.211032017-09-07T02:42:34Z http://eprints.utm.my/id/eprint/21103/ Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function Ismail, Zool Hilmi Mokhar, B. M. Dunnigan, M. W. TK Electrical engineering. Electronics Nuclear engineering 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. IEEE 2012 Book Section PeerReviewed Ismail, Zool Hilmi and Mokhar, B. M. and Dunnigan, M. W. (2012) Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function. In: Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities. IEEE, New York, USA. ISBN 978-145772089-5 http://ieeexplore.ieee.org/document/6263426/ DOI:10.1109/OCEANS-Yeosu.2012.6263426
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ismail, Zool Hilmi Mokhar, B. M. Dunnigan, M. W. Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
description	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.
format	Book Section
author	Ismail, Zool Hilmi Mokhar, B. M. Dunnigan, M. W.
author_facet	Ismail, Zool Hilmi Mokhar, B. M. Dunnigan, M. W.
author_sort	Ismail, Zool Hilmi
title	Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
title_short	Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
title_full	Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
title_fullStr	Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
title_full_unstemmed	Tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
title_sort	tracking control for an autonomous underwater vehicle based on multiplicative potential energy function
publisher	IEEE
publishDate	2012
url	http://eprints.utm.my/id/eprint/21103/ http://ieeexplore.ieee.org/document/6263426/
_version_	1643647270704381952

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

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