Title: Adaptive gravity compensation and region tracking control of an AUV without velocity measurement

Authors: Koena Mukherjee; Indra Narayan Kar; Rajendra Kumar Purushottam Bhatt

Addresses: Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, 110016, India ' Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, 110016, India ' Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, 110016, India

Abstract: In this paper, a region tracking controller has been proposed for an autonomous underwater vehicle (AUV) to ensure tracking within a constrained region. During tracking only position measurements are considered to be available. A pseudo velocity signal is generated using a filter to compensate for the velocity signal. For the mapping of the unknown persistent effects in AUV dynamics, i.e., to compensate these unknown forces, an adaptive signal has also been introduced. A Lyapunov function has been utilised to prove the stability of the closed-loop system. The controller ensures uniformly ultimately bounded stability of the system states. Simulation results prove the effectiveness of the proposed controller in terms of energy saving during region tracking.

Keywords: autonomous underwater vehicles; AUVs; region tracking; uniformly ultimately bounded; UUB stability; adaptive gravity compensation; tracking control; velocity measurement; AUV dynamics; Lyapunov function; smulation; energy saving.

DOI: 10.1504/IJMIC.2016.075271

International Journal of Modelling, Identification and Control, 2016 Vol.25 No.2, pp.154 - 154

Available online: 09 Mar 2016 *

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