A region boundary-based control scheme for an autonomous underwater vehicle

Una arquitectura para el diseño conceptual de vehículos para exploración subacuática

“…En general se busca que este componente sea fácilmente programable y que permita priorizar el desempeño, la seguridad y la capacidad de respuesta que tendrá el vehículo [53]. La mayoría de las labores realizadas por un vehículo subacuático son especificadas punto a punto en una región limitada [54]. En el nivel medio de la estructura de control se realiza la planeación de trayectorias, es decir, la determinación de los puntos y orientaciones en los que debe estar el vehículo y las historias de tiempo que deben ser seguidas por los controladores de bajo nivel [55].…”

Disturbance observer based tracking controller for an autonomous underwater vehicle

“…Consider AUV dynamics in (9) and exter nal disturbance generated through (16). The estimated disturbance (d) through the observer (IS), will track the actual disturbance (d) if the observer gain I is chosen such that the error dynamics for disturbance (20) converges exponentially where eo = � -� is the distur bance error.…”

“…The basic specifications of the vehicle model [20] includes Mass of the vehicle as 125kg. The vehicle is assumed to be positively buoyant with CG = [0,0, 0.05jT.…”

Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents

“…Different from the above nonlinear systems, underwater vehicles operate relatively slowly in the complex ocean environment, suffering from ocean current disturbance inevitably. Besides, due to the inherent nonlinearity and serious multivariate coupling, it leads to a large uncertainty in the model of underwater vehicle based on dynamic modeling theory [21][22][23][24]. Therefore, the external disturbance and modeling uncertainty result in fault tolerant control more complicated for underwater vehicles [22,23].…”

“…Besides, due to the inherent nonlinearity and serious multivariate coupling, it leads to a large uncertainty in the model of underwater vehicle based on dynamic modeling theory [21][22][23][24]. Therefore, the external disturbance and modeling uncertainty result in fault tolerant control more complicated for underwater vehicles [22,23]. And during the operation of underwater vehicle, it is difficult to estimate the upper bounds of external disturbance and modeling uncertainty in advance.…”