Experimental results with value function based control of an AUV

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

Da Silva, JE (Autor) Outra; De Sousa, JB (Autor) Outra; Pereira, FL (Autor) FEUP

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 164-169

3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012

Porto, 10 April 2012 through 12 April 2012

Indexação

ISI Web of Knowledge

Scopus - 2 Citações

Classificação Científica

CORDIS: Ciências Tecnológicas

Outras Informações

ID Authenticus: P-008-CB1

DOI: 10.3182/20120410-3-pt-4028.00028

Abstract (EN): This paper reports experimental results obtained with a value function based path following controller for Autonomous Underwater Vehicles (AUV). The value functions are computed using numerical methods for the dynamic programming (DP) equations. We consider the case of planar operation of an AUV with actuation surfaces (fins). A reduced nonlinear model with 4 state variables is considered: cross-track error, angle with respect to path, angular velocity and fin's position. The objective of our control approach is twofold: to ensure given hard constraints on the maximum cross-track error in the presence of bounded disturbances; to provide a balance between the controller performance and the rate of change in the fin's position, in order to avoid premature wear of the servomotors. The underwater experiments are performed with an AUV from Porto University.

Idioma: Inglês

Tipo (Avaliação Docente): Científica