TY - GEN
T1 - Nonliner control for autonomous underwater vehicles using group method of data handling
AU - Kobayashi, Tomoaki
AU - Onji, Kaoruko
AU - Imae, Joe
AU - Zhai, Guisheng
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - AUVs
KW - GMDH
KW - Nonlinear control
KW - System identification
UR - http://www.scopus.com/inward/record.url?scp=48349133115&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349133115&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406988
DO - 10.1109/ICCAS.2007.4406988
M3 - Conference contribution
AN - SCOPUS:48349133115
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 695
EP - 700
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -