3D path following and L1 adaptive control for underwater vehicles

Coordinated Path-Following Control of Multiple Autonomous Underwater Vehicles

The concept of multiple Autonomous Underwater Vehicles (AUVs) cooperatively performing a mission offers several advantages over single vehicles working in a non-cooperative manner such as increased efficiency, performance, reconfigurability, robustness and the emergence of new capabilities. This paper introduces the concept of coordinated path-following control of multiple AUVs. The vehicles ar...

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Adaptive Control for Autonomous Underwater Vehicles

We describe a novel integration of Planning with Probabilistic State Estimation and Execution. The resulting system is a unified representational and computational framework based on declarative models and constraintbased temporal plans. The work is motivated by the need to explore the oceans more cost-effectively through the use of Autonomous Underwater Vehicles (AUV), requiring them to be goa...

Adaptive Control for Guidance of Underwater Vehicles

A Totally Stable Adaptive Control for Path Tracking of Time-Varying Autonomous Underwater Vehicles

This paper deals with the problem of adaptive path tracking of autonomous underwater vehicles with time-varying dynamics. The controller design is based on a speedgradient adaptive law. A high-performance control behavior is aimed, so the full actuator dynamics is considered together with that of the vehicle. To this end, a state/disturbance observer is developed in the state feedback employing...