Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Adhami Mirhosseini, A (Author) Other; Aguiar, AP (Author) Other; Yazdanpanah, MJ (Author) Other

Conference proceedings International

Title: 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)

Pages: 3928-3933

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC)

Orlando, FL, DEC 12-15, 2011

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 8 Citations

Other information

Authenticus ID: P-008-3R5

DOI: 10.1109/cdc.2011.6161411

Abstract (EN): This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller. http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6161411

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6