TY - GEN
T1 - Control of an underactuated underwater vehicle in 3D space under field-of-view constraints
AU - Panagou, Dimitra
AU - Maniatopoulos, Spyros
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
⋆ This work was supported by the EU funded project PANDORA: “Persistent Autonomy through learNing, aDaptation, Observation and ReplAnning”, FP7–288273, 2012–2014.
PY - 2012
Y1 - 2012
N2 - This paper presents a state feedback control approach for the motion of an under-actuated, pitch-capable Unmanned Underwater Vehicle (UUV) in a 3-dimensional workspace. The objective is to steer the vehicle to a desired configuration with respect to (w.r.t.) a target of interest, in the presence of field-of-view (f.o.v.) constraints due to a vision-based sensor system. The control design is based on dipolar reference vector fields and tools from viability theory, and guarantees the convergence of the vehicle in a neighborhood of the desired configuration, without violating the f.o.v. constraints. The unactuated degrees of freedom (d.o.f.) are shown to be input-to-state stable (ISS). Simulations demonstrate the efficacy of the approach.
AB - This paper presents a state feedback control approach for the motion of an under-actuated, pitch-capable Unmanned Underwater Vehicle (UUV) in a 3-dimensional workspace. The objective is to steer the vehicle to a desired configuration with respect to (w.r.t.) a target of interest, in the presence of field-of-view (f.o.v.) constraints due to a vision-based sensor system. The control design is based on dipolar reference vector fields and tools from viability theory, and guarantees the convergence of the vehicle in a neighborhood of the desired configuration, without violating the f.o.v. constraints. The unactuated degrees of freedom (d.o.f.) are shown to be input-to-state stable (ISS). Simulations demonstrate the efficacy of the approach.
KW - Marine systems
KW - Nonlinear control
KW - Underactuated systems
KW - Visibility
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U2 - 10.3182/20120410-3-pt-4028.00006
DO - 10.3182/20120410-3-pt-4028.00006
M3 - Conference contribution
AN - SCOPUS:84880908526
SN - 9783902823199
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 25
EP - 30
BT - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
PB - IFAC Secretariat
T2 - 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Y2 - 10 April 2012 through 12 April 2012
ER -