Nonlinear adaptive depth tracking and attitude control of an underwater towed vehicle

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Teixeira, FC (Author) Other; Aguiar, AP (Author) Other; Pascoal, A (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 211-216

8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009

Guaruja (SP), 16 September 2009 through 18 September 2009

Indexing

ISI Web of Knowledge

Scopus - 2 Citations

Other information

Authenticus ID: P-007-ZKZ

DOI: 10.3182/20090916-3-br-3001.0046

Abstract (EN): This paper addresses the problem of simultaneous depth tracking and precise attitude control of an underwater towed vehicle integrated in a two-stage towing arrangement. A nonlinear Lyapunov-based output feedback controller is designed to operate in the presence of plant parameter uncertainty and proven to regulate pitch, yaw, and depth tracking errors to zero. When subjected to bounded external disturbances, the tracking errors converge to a neighborhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller. The results obtained with computer simulations including sea wave driven disturbances and sensor noise, show that the controlled system exhibits good performance about different operating conditions and holds considerable potential for oceanographic missions that require simultaneous depth and attitude control. © 2009 IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6