Nonliner control for autonomous underwater vehicles using group method of data handling

Tomoaki Kobayashi, Kaoruko Onji, Joe Imae, Guisheng Zhai

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

3 Citations (Scopus)

Abstract

In this paper, we deal with an attitude control for Autonomous Underwater Vehicles (AUVs) incorporating estimation of unknown parameters. AUVs are used for deep ocean research, searching fish bed, etc. It is very difficult to control their attitude, because the model of AUVs are described as high order nonlinear system containing some parameters difficult to measure. According to the existing research, there are suggestions for estimating unknown parameters using nonlinear estimator with online control. However, these nonlinear estimators tend to be unstable due to initial estimated error and observation noise. Therefore, we design an input-output linearization controller with Group Method of Data Handling (GMDH) for the parameter identification. First, we check the availability of our method on 2-D model of AUVs. Secondly, we extend the existing input-output linearization technique for the model to 6-degree of freedom which has a lot of unknown parameters. Then, we demonstrate the effectiveness of our control design through numerical simulations.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages694-699
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul
Duration: 2007 Oct 172007 Oct 20

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CitySeoul
Period07/10/1707/10/20

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Keywords

  • AUVs
  • GMDH
  • Nonlinear control
  • System identification

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kobayashi, T., Onji, K., Imae, J., & Zhai, G. (2007). Nonliner control for autonomous underwater vehicles using group method of data handling. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 694-699). [4406988] https://doi.org/10.1109/ICCAS.2007.4406988