Robust Control Strategy for AUV with Workspace Observer

Akihiro Kawamura, Toshiaki Okano, Toshiyuki Murakami

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

1 Citation (Scopus)

Abstract

Technologies for machine automation are strongly demanded in some developed countries due to achieve various tasks which could not be treated by human. Autonomous Underwater Vehicles (AUVs) are currently being utilized for scientific, commercial and military applications. These vehicles require autonomous guidance and control systems in order to perform underwater tasks. Modeling, system identification and control strategy of these vehicles are still major areas of research and development. Various disturbance effects perturb a vehicle in underwater, but it is not really discussed by conventional control strategy. And thus this paper proposes a new control strategy which is still effective under the circumstances when the disturbance exists. Simulations were conducted for supporting the argument.

Original languageEnglish
Title of host publicationProceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages412-417
Number of pages6
ISBN (Electronic)9781538648292
DOIs
Publication statusPublished - 2018 Sep 24
Event16th IEEE International Conference on Industrial Informatics, INDIN 2018 - Porto, Portugal
Duration: 2018 Jul 182018 Jul 20

Other

Other16th IEEE International Conference on Industrial Informatics, INDIN 2018
CountryPortugal
CityPorto
Period18/7/1818/7/20

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Information Systems and Management
  • Industrial and Manufacturing Engineering

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  • Cite this

    Kawamura, A., Okano, T., & Murakami, T. (2018). Robust Control Strategy for AUV with Workspace Observer. In Proceedings - IEEE 16th International Conference on Industrial Informatics, INDIN 2018 (pp. 412-417). [8472100] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN.2018.8472100