Adaptive tracking control scheme for an autonomous underwater vehicle subject to a union of boundaries

作者：Ismail Zool Hilmi^*; Mokhar Mohd Bazli Mohd

来源：Indian Journal of Marine Sciences, 2013, 42(8): 999-1005.

• Multiplicative potential energy function
• dynamic region boundary-based control
• autonomous underwater vehicle

Present study presents a novel region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The control objective is to track a moving target formed by the union of all boundaries. In this case, multiplicative potential energy function is used to unite all the boundaries and various shapes can be created using this function. It is interesting to note that the AUV will be placed at a specific position on the dynamic region boundaries. A Lyapunov-like function is presented for stability analysis of the AUV. Simulation studies will be performed to illustrate the effectiveness of the proposed controller.

• 出版日期2013-12