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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| Format: | Book Section |
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IEEE
2012
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| author | Ismail, Zool Hilmi Sarman, N. Dunnigan, M. W. |
| author_facet | Ismail, Zool Hilmi Sarman, N. Dunnigan, M. W. |
| author_sort | Ismail, Zool Hilmi |
| collection | ePrints |
| 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. |
| first_indexed | 2024-03-05T18:57:42Z |
| format | Book Section |
| id | utm.eprints-35697 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T18:57:42Z |
| publishDate | 2012 |
| publisher | IEEE |
| record_format | dspace |
| spelling | utm.eprints-356972017-02-02T05:33:40Z http://eprints.utm.my/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 |
| 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 |
| title | Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
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| title_full | Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
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| title_fullStr | Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
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| title_full_unstemmed | Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
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| title_short | Dynamic region boundary-based control scheme for multiple autonomous underwater vehicles
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| title_sort | dynamic region boundary based control scheme for multiple autonomous underwater vehicles |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT ismailzoolhilmi dynamicregionboundarybasedcontrolschemeformultipleautonomousunderwatervehicles AT sarmann dynamicregionboundarybasedcontrolschemeformultipleautonomousunderwatervehicles AT dunniganmw dynamicregionboundarybasedcontrolschemeformultipleautonomousunderwatervehicles |