Optimal and adaptive control of underwater vehicles

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 Guidance of Underwater Vehicles

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...

Optimal Control of Underactuated Underwater Vehicles with Single Actuator

The research on underwater systems has gained an immense interest during the last decades with applications taken place in many fields such as exploration, investigation, repair, construction, etc. Hereby, control of underwater systems has emerged as a growing field of research. Underwater vehicles, in fact, accounted for 21% of the total number of service robots by the end of 2004, and are the...

Adaptive Formation Control of Multiple Autonomous Underwater Vehicles

This paper presents an adaptive formation control for a multiple Autonomous underwater vehicles (AUVs) using Lyapunov stability criterian. This controller considers the hydrodynamic parameter uncertainties of the AUVs. Simulations are performed considering three AUVs in a group and the results obtained demonstrate effective formation control of these AUVs while tracking a circular trajectory.