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Nonlinear control of an autonomous underwater vehicle: A RISE-based approach | IEEE Conference Publication | IEEE Xplore

Nonlinear control of an autonomous underwater vehicle: A RISE-based approach


Abstract:

Autonomous and remotely operated marine vehicles such as ships and submarines are becoming a key component in several aspects of maritime industry and defense. This paper...Show More

Abstract:

Autonomous and remotely operated marine vehicles such as ships and submarines are becoming a key component in several aspects of maritime industry and defense. This paper explores the development of a nonlinear controller for a fully actuated autonomous underwater vehicle (AUV) using a robust integral of the sign of the error (RISE) feedback term with a neural network (NN) based feedforward term to achieve semi-global asymptotic tracking results in the presence of complete model uncertainty and unknown disturbances. A simulation is provided to demonstrate the proposed controller on an experimentally validated AUV model.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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ISSN Information:

Conference Location: San Francisco, CA, USA

References

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