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Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles

This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move...

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Main Authors: Ismail, Zool Hilmi, Sarman, N., Dunnigan, M. W.
Format: Book Section
Published: IEEE 2012
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/35697/
http://dx.doi.org/10.1109/OCEANS-Yeosu.2012.6263427
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spelling my.utm.356972017-02-02T05:33:40Z http://eprints.utm.my/id/eprint/35697/ Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles Ismail, Zool Hilmi Sarman, N. Dunnigan, M. W. TK Electrical engineering. Electronics Nuclear engineering This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller. IEEE 2012 Book Section PeerReviewed Ismail, Zool Hilmi and Sarman, N. and Dunnigan, M. W. (2012) Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles. In: Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities. IEEE, New York, USA. ISBN 978-145772089-5 http://dx.doi.org/10.1109/OCEANS-Yeosu.2012.6263427 DOI:10.1109/OCEANS-Yeosu.2012.6263427
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Ismail, Zool Hilmi
Sarman, N.
Dunnigan, M. W.
Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
description This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down depending on the given task. Various geometric formations can be formed by choosing appropriate objective functions. The stability analysis is carried out with the aid of a Lyapunov-like function. Simulation results on three AUVs are presented to illustrate the performance of the proposed controller.
format Book Section
author Ismail, Zool Hilmi
Sarman, N.
Dunnigan, M. W.
author_facet Ismail, Zool Hilmi
Sarman, N.
Dunnigan, M. W.
author_sort Ismail, Zool Hilmi
title Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
title_short Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
title_full Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
title_fullStr Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
title_full_unstemmed Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
title_sort dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
publisher IEEE
publishDate 2012
url http://eprints.utm.my/id/eprint/35697/
http://dx.doi.org/10.1109/OCEANS-Yeosu.2012.6263427
_version_ 1643649812606746624
score 13.18916

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