A Control of under Actuated AUV by Nonlinear Controller

Akihiro Kawamura, Toshiaki Okano, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Technologies for machine automation are strongly demanded in some developed countries for achieving various tasks which should be treated by the robot. Autonomous Underwater Vehicles (AUVs) are currently being utilized for scientific and commercial applications. To achieving these tasks, it is required autonomous the guidance and the control systems. Therefore, modeling, system identification and control strategy of these vehicles are still major areas of research and development. Normally, the full actuated AUV is considered for facilitating its control and the disturbance compensation. However, it increases the cost to create and maintain. And thus in author's previous research, an under actuated AUV which still can be controlled when the disturbance exists, was considered to decrease the cost with the same performance as the full actuated one. However, some disturbance effects could not be compensated because of severe nonlinearity of it and the non-holonomic constraint. Therefore, the new control strategy which is considered its nonlinearity, is proposed in this paper and the simulation supports this argument.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages295-300
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 2019 Apr 25
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 2019 Jan 142019 Jan 16

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period19/1/1419/1/16

Fingerprint

underwater vehicles
Autonomous underwater vehicles
controllers
Controllers
disturbances
nonlinearity
costs
Costs
system identification
Identification (control systems)
Automation
research and development
automation
robots
Robots
Control systems
vehicles
simulation

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

Cite this

Kawamura, A., Okano, T., & Murakami, T. (2019). A Control of under Actuated AUV by Nonlinear Controller. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 295-300). [8700367] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700367

A Control of under Actuated AUV by Nonlinear Controller. / Kawamura, Akihiro; Okano, Toshiaki; Murakami, Toshiyuki.

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 295-300 8700367 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawamura, A, Okano, T & Murakami, T 2019, A Control of under Actuated AUV by Nonlinear Controller. in Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700367, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 295-300, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 19/1/14. https://doi.org/10.1109/SII.2019.8700367
Kawamura A, Okano T, Murakami T. A Control of under Actuated AUV by Nonlinear Controller. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 295-300. 8700367. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). https://doi.org/10.1109/SII.2019.8700367
Kawamura, Akihiro ; Okano, Toshiaki ; Murakami, Toshiyuki. / A Control of under Actuated AUV by Nonlinear Controller. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 295-300 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).
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