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

Tomoaki Kobayashi, Kaoruko Onji, Joe Imae, Guisheng Zhai

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICCAS 2007 - International Conference on Control, Automation and Systems
出版社IEEE Computer Society
ページ695-700
ページ数6
ISBN(印刷版)8995003871, 9788995003879
DOI
出版ステータスPublished - 2007
外部発表はい
イベントInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
継続期間: 2007 10 172007 10 20

出版物シリーズ

名前ICCAS 2007 - International Conference on Control, Automation and Systems

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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