NDLI: Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Please wait, while we are loading the content...

ANES/ASME Joint National Solar Energy Week

ASME Citrus Engineering Symposium

ASME India Oil and Gas Pipeline Conference

ASME International Mechanical Engineering Congress and Exposition

ASME International Pipeline Geotechnical Conference

ASME Power Conference

ASME Turbine Blade Tip Symposium

ASME/IEEE Joint Rail Conference

ASME/JSME Thermal Engineering Joint Conference

ASME/NRC Pump and Valve Symposium

ASME/USCG Workshop on Marine Technology and Standards

CANEUS: MNT for Aerospace Applications

Dynamic Systems and Control Conference

ASME 2008 Dynamic Systems and Control Conference(DSCC2008)

ASME 2009 Dynamic Systems and Control Conference(DSCC2009)

ASME 2010 Dynamic Systems and Control Conference(DSCC2010)

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control(DSCC2011)

ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference(DSCC2012-MOVIC2012)

ASME 2013 Dynamic Systems and Control Conference(DSCC2013)

ASME 2014 Dynamic Systems and Control Conference(DSCC2014)

ASME 2015 Dynamic Systems and Control Conference(DSCC2015)

ASME 2016 Dynamic Systems and Control Conference(DSCC2016)

ASME 2017 Dynamic Systems and Control Conference(DSCC2017)

ASME 2018 Dynamic Systems and Control Conference(DSCC2018)

Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems

Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control

Adjustable Compliant Mechanism Load Deflection Test Bench Design

Electrochemical Model-Based Aging Characterization of Lithium-Ion Battery Cell in Electrified Vehicles

A Multibody Toolbox for Hybrid Dynamic System Modeling Based on Nonholonomic Symbolic Formalism

Experimental Bifurcation Diagram of Furuta Pendulum

On the Multi-Body Modeling and Validation of a Full Scale Wind Turbine Nacelle Test Bench

Stochastic Optimization of Impedance Parameters for a Powered Prosthesis Using a 3D Simulation Environment

Stability Analysis in Mean-Field Games via an Evans Function Approach

Helicopter Swashplate Design and Analysis Using Semi Compliant Mechanism

Distributed Coordination of a Multi-Agent System With Intermittent Communication: A Switched Systems Approach

Further Results on Finite-Time Distributed Control of Multiagent Systems With Time Transformation

Rapid Information Transfer in Swarms Under Update-Rate-Bounds Using Delayed Self Reinforcement

Cooperative Deterministic Learning-Based Trajectory Tracking for a Group of Unicycle-Type Vehicles

Numerical Evaluation of Pressure Drop Across Orifices for Different Gas-Liquid Mixtures

Differentiation of Collective Behavior Based on Automated Discovery of Dynamical Kinds

Design of a Periodic Event-Based Repetitive Controller With Dynamic Output Feedback for Linear Systems

Exploring the Optimality of a Limited View Angle in the Two-Dimensional Vicsek Model

Algorithms for Localization and Routing of Unmanned Vehicles in GPS-Denied Environments

Locally Adaptive Online Trajectory Optimization in Unknown Environments With RRTs

Adaptive Haptic Shared Control Framework Using Markov Decision Processing

Controllability of a Pair of Swimming Microrotors in a Bounded Domain at Low Reynolds Number

Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support

Path Control of a Heat Treatment Truck Considering Driver-Vehicle Interaction

Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism

Modeling and Dynamics Analysis of a Beam-Hoverboard Self-Transportation System

Navigation Strategies for a Multi-Robot Ground-Based Row Crop Phenotyping Platform

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

Comparison Between Position and Rate Control Using a Foot Interface

Pursuit Strategies for a Target Tracking Game Around a Circular Obstacle

Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces

Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop

The Secant Method: Global Trajectory Planning With Variable Radius, Solid Obstacles

Ergodic Exploration for Adaptive Sampling of Water Columns Using Gliding Robotic Fish

Path Planning for Autonomous Car Parking

Towards Integrated Planning and Control of Autonomous Vehicles Using Nested MPCs

Dynamic Modeling and Computed Torque Control of Flexure Jointed TVC Systems

Application of Mixed H2/H∞ Data Driven Control Design to Dual Stage Hard Disk Drives

Robust Filtered Basis Functions Approach for Feedforward Tracking Control

Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Genetic Algorithm Approach for UAV Persistent Visitation Problem

A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios

Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping

Robust UAV Attitude Estimation Using a Cascade of Nonlinear Observer and Linearized Kalman Filter

Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters

Decentralized 3D PDE Based Collaborative Trajectory Planning and Target Surrounding for Swarm of UAVs in Cluttered Environment

Image Quality-Driven Octorotor Flight Control via Reinforcement Learning

Prediction of Wheel Slipping Limits for Mobile Robots

Particle Swarm Optimization Tuning of Fault Tolerant Sliding Mode Control for Quadrotor

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

Road Condition Based Adaptive Model Predictive Control for Autonomous Vehicles

Using Compressive Sensing With In-Air Ultrasonic Measurements for Robotic Mapping

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

Reconfigurable Fault-Tolerant Tilt-Rotor Quadcopter System

Fault Tolerance of a Reconfigurable Tilt-Rotor Quadcopter Using Sliding Mode Control

Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

A Fast Integrated Planning and Control Framework for Autonomous Driving via Imitation Learning

Could Chalk Hopping Be Caused by Reverse Chatter?

On Steady-State Solutions of a Wave Equation by Solving a Delay Differential Equation With an Incremental Harmonic Balance Method

Passive Pitch Mechanics of Elastic Flapping Wings

Monitoring and Control of Workpiece Vibrations Using Proportional Hydraulic Clamping Mechanism

Control Oriented Dynamic Modeling of a Tension-Leg Platform Based Floating Offshore Wind Turbine With Dynamic Vibration Absorbers

A Comprehensive Fluid Coupled Lateral Drill String Vibration Model Based on Classical Vibration Theories

A Novel Dynamic Model of a Reaction Wheel Assembly for High Accuracy Pointing Space Missions

Control of Slender-Beam Payloads During Lift-Up Operations

Control Design for the System of Manipulator Handling a Flexible Payload With Input Constraints

Guarantee Performance ICC-LPV Control With Sensor Aging

Multi-Objective Optimal Design of Passive Suspension System With Inerter Damper

Planar Motion Control, Coordination and Dynamic Entrainment in Chaplygin Beanies

A Novel Non-Raster Scan Method for AFM Imaging

Control Design With Inverse Feedback Shaper for Quadcopter With Suspended Load

Open-Loop Minimum-Energy Maneuver of a Solar-Sail Using Magnetic Torques and Reaction Wheels

Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints

Voltage Response for Parametrically Actuated MEMS Cantilever Beam Using Homotopy Analysis Method and Method of Multiple Scales

Experimental and Numerical Analysis of a Sandwich Beam With Tip Mass

Theoretical and Experimental Analysis of Coupled Flexural-Torsional Vibrations of Rotating Beams

Performance Evaluation of Train Suspension Energy Harvesting Shock Absorber on Railway Vehicle Dynamics

Experimental Investigation on Vibration Damping Characteristics of Magnetorheological Damper

Energy Nanotechnology International Conference

Energy Sustainability

Engineering Systems Design and Analysis

Engineering Technology Conference on Energy

Fluid Power Systems Technology

Fluids Engineering Division Summer Meeting

Frontiers in Biomedical Devices

Gas Turbine India Conference

Global Congress on NanoEngineering for Medicine and Biology

Heat Transfer Summer Conference

High Temperature Reactor Technology

Information Storage and Processing Systems

Integrated Nanosystems: Design, Synthesis, and Applications

Internal Combustion Engine Division Fall Technical Conference

Internal Combustion Engine Division Spring Technical Conference

International Conference on Fluidized Bed Combustion

International Conference on Fuel Cell Science, Engineering and Technology

International Conference on Integration and Commercialization of Micro and Nanosystems

International Conference on Micro/Nanoscale Heat Transfer

International Conference on Nanochannels, Microchannels, and Minichannels

International Conference on Nuclear Engineering

International Conference on Offshore Mechanics and Arctic Engineering

International Conference on Radioactive Waste Management and Environmental Remediation

International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

International Electronic Packaging Technical Conference and Exhibition

International Heat Transfer Conference

International Joint Power Generation Conference

International Joint Tribology Conference

International Manufacturing Science and Engineering Conference

International Pipeline Conference

International Solar Energy Conference

International Symposium on Flexible Automation

Multifunctional Nanocomposites and Nanomaterials International Conference

Noise Control and Acoustics Division Conference

North American Waste-to-Energy Conference

Pressure Technology

Pressure Vessels and Piping Conference

Rail Transportation Division Conference

Small Modular Reactors Symposium

Smart Materials, Adaptive Structures and Intelligent Systems

Summer Bioengineering Conference

Turbo Expo: Power for Land, Sea, and Air

Verification and Validation

Water Quality, Drought, Human Health and Engineering Conference

Wind Energy Symposium

World Conference on Innovative Virtual Reality

World Tribology Congress

Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Wang, Bingheng Mihalec, Marko Gong, Yongbin Pompili, Dario Yi, Jingang
Copyright Year	2018
Abstract	This paper presents a trajectory-tracking method using disturbance observer-based model predictive control (MPC) for small autonomous underwater vehicles (AUV). The goal of the work is to design a robust motion controller for AUVs under the system constraints and unknown disturbances such as hydrodynamics and ocean currents. Super-twisting-algorithm (STA) is employed to design the disturbance observer and its output is used and included in the feedback linearization law to compensate for the disturbances. The control inputs are generated using the MPC design with the nominal linearized model. Simulation results are included to validate the effectiveness of the control design and also compare with the traditional MPC motion control.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-9200
Volume Number	Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Design Algorithms Simulation results Feedback Control equipment Trajectories (physics) Hydrodynamics Motion control Underwater vehicles Ocean currents Predictive control
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in