TY - GEN
T1 - A robust visual servo control scheme with prescribed performance for an autonomous underwater vehicle
AU - Bechlioulis, Charalampos P.
AU - Karras, George C.
AU - Nagappa, Sharad
AU - Palomeras, Narcais
AU - Kyriakopoulos, Kostas J.
AU - Carreras, Marc
PY - 2013
Y1 - 2013
N2 - This paper describes the design and implementation of a visual servo control scheme for an Autonomous Underwater Vehicle (AUV). The purpose of the control scheme is to navigate and stabilize the vehicle towards a visual target. The controller does not utilize the vehicle's dynamic model parameters and guarantees prescribed transient and steady state performance despite the presence of external disturbances representing ocean currents and waves. The proposed control scheme is of low complexity and can be easily integrated to an embedded control platform of an Autonomous Underwater Vehicle (AUV) with limited power and computational resources. Moreover, through the appropriate selection of certain performance functions, the proposed scheme guarantees that the target lies inside the onboard camera's field of view for all time. The resulting control scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are experimentally verified using the Girona 500 AUV.
AB - This paper describes the design and implementation of a visual servo control scheme for an Autonomous Underwater Vehicle (AUV). The purpose of the control scheme is to navigate and stabilize the vehicle towards a visual target. The controller does not utilize the vehicle's dynamic model parameters and guarantees prescribed transient and steady state performance despite the presence of external disturbances representing ocean currents and waves. The proposed control scheme is of low complexity and can be easily integrated to an embedded control platform of an Autonomous Underwater Vehicle (AUV) with limited power and computational resources. Moreover, through the appropriate selection of certain performance functions, the proposed scheme guarantees that the target lies inside the onboard camera's field of view for all time. The resulting control scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are experimentally verified using the Girona 500 AUV.
UR - http://www.scopus.com/inward/record.url?scp=84893789639&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893789639&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696911
DO - 10.1109/IROS.2013.6696911
M3 - Conference contribution
AN - SCOPUS:84893789639
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3879
EP - 3884
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -