Wireless Remote Control for Underwater Vehicles

Remote Communication for Monitoring and Control of Autonomous Underwater Vehicles

This paper describes research on remote monitoring and control of autonomous underwater vehicles (AUVs). This work is part of a larger e ort to create autonomous ocean sampling networks (AOSN), an exciting new concept for collecting synoptic oceanographic data. AOSN is based on the operation of small, low cost autonomous underwater vehicles (AUVs) within an array of moorings that provide commun...

Moving Mass Control for Underwater Vehicles

We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we invest...

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

Control Architectures for Autonomous Underwater Vehicles

utonomous Underwater Vehicles (AUVs) share common A control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four...