Semi-Parametric Control Architecture for Autonomous Underwater Vehicles Subject to Time Delays

Semi-Parametric Control Architecture for Autonomous Underwater Vehicles Subject to Time Delays

This paper presents a data-driven model-based control system for autonomous underwater vehicles (or AUVs) subject to input delays. This work is motivated by the input time delays that can arise in underwater robotics due to communication restrictions and sensor malfunctions. Such delays can highly d...

Full description

Bibliographic Details
Main Authors: Ignacio Carlucho, Dylan Stephens, William Ard, Corina Barbalata
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Autonomous underwater vehicles
control theory
Koopman operator
model based control
observer-based predictors
Online Access:https://ieeexplore.ieee.org/document/10175373/

Internet

https://ieeexplore.ieee.org/document/10175373/

Similar Items