Real Time Adaptive Control of an Autonomous Underwater Vehicle (AUV). PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Real Time Adaptive Control of an Autonomous Underwater Vehicle (AUV). PDF full book. Access full book title Real Time Adaptive Control of an Autonomous Underwater Vehicle (AUV). by Michael H. Davis. Download full books in PDF and EPUB format.
Author: Michael H. Davis
Publisher:
ISBN:
Category :
Languages : en
Pages : 61
Get Book Here
Book Description
In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Author: Michael H. Davis
Publisher:
ISBN:
Category :
Languages : en
Pages : 61
Get Book Here
Book Description
In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Author: Thomas Chaffre
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Get Book Here
Book Description
Sea disturbances vary unrelentingly making it necessary for autonomous underwater vehicles (AUVs) to continuously adapt their control systems to accommodate such changes. The complexity and dynamics of underwater processes are, however, difficult to be described analytically. While adaptive control systems could potentially be used to handle such changes, the field of adaptive control faces three main challenges: the dependency on the availability of a priori knowledge of the underlying processes; the need for well defined governing equations; and the implementation of these equations on physical systems. In the context of the underwater environment, these descriptions are not readily available. The objective of this thesis was to formalize a novel learning-based adaptive control using deep reinforcement learning and adaptive pole placement control to compensate for the known part of the process and to extract information on the unknown part directly from sensors feedback so as to compensate for the unobservable current disturbance. In addition, we proposed a novel experience replay mechanism that considers the characteristic of the biological replay mechanism. The methods were validated in simulation and in real life, demonstrating the benefits of combining both theories against using them separately.
Author: Alexander Inzartsev
Publisher: BoD – Books on Demand
ISBN: 9537619494
Category : Transportation
Languages : en
Pages : 596
Get Book Here
Book Description
For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Author: James M. Williams
Publisher:
ISBN:
Category :
Languages : en
Pages : 86
Get Book Here
Book Description
An Autonomous Underwater Vehicle (AUV) is an unmanned submersible vehicle capable of performing a variety of missions. The AUV, which is the subject of this research, is a small prototype vehicle equipped with various control surfaces as well as telemetry devices which provide pertinent measurements of the vehicle states. This research is directed toward the development and implementation of a digital-control program which provides robust depth control of the vehicle. An adaptive parameter estimation routine is used to develop the model of the relationship between the actuator commands and vehicle response. State feedback is then provided using a variable-structure approach. The control algorithm has been implemented through a Turbo Pascal digital-control program executed on a PC/AT computer. Results of the parameter estimation routine and controller implementation are discussed. Keywords: Theses; Analog simulation; Experimental data. (kr).
Author: Naval Postgraduate Naval Postgraduate School
Publisher: CreateSpace
ISBN: 9781512397413
Category :
Languages : en
Pages : 96
Get Book Here
Book Description
Joint robot-human operations potentially increase the efficiency, effectiveness and safety of the tasks they perform. The utilization of an autonomous underwater vehicle (AUV) as a robotic diver's assistant demands joint, dynamic operations involving precise physical interactions between an AUV, human divers, and the environment, which, in turn, requires a robust, accurate control system. A robot acting as a dive assistant would perform tasks such as tool carrying, worksite illumination, or other general assistance jobs that a "dive buddy" might perform. Such precise control of the AUV normally requires accurate knowledge of the vehicle's dynamics; however, this high level of accuracy is difficult to obtain without the employment of extensive system identification efforts. Additionally, the utility of the resulting model is greatly diminished if environmental conditions or vehicle configuration change frequently or unexpectedly. An ideal control system allows the AUV to switch between operational modes and objectives while accounting for uncertain environmental conditions, payload configurations, and possible failures of onboard actuators. Adaptive control has many applications in the underwater domain and can give a robotic diver's assistant the flexibility required to enable joint robot-diver operations. Therefore, two adaptive control system approaches, Model Reference Adaptive Control and L1 Adaptive Control, are investigated here for heave control of the Tethered, Hovering Autonomous Underwater System.
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 1572
Get Book Here
Book Description
Author: Naval Postgraduate Naval Postgraduate School
Publisher: Createspace Independent Publishing Platform
ISBN: 9781523239399
Category :
Languages : en
Pages : 96
Get Book Here
Book Description
Joint robot-human operations potentially increase the efficiency, effectiveness and safety of the tasks they perform. The utilization of an autonomous underwater vehicle (AUV) as a robotic diver's assistant demands joint, dynamic operations involving precise physical interactions between an AUV, human divers, and the environment, which, in turn, requires a robust, accurate control system. A robot acting as a dive assistant would perform tasks such as tool carrying, worksite illumination, or other general assistance jobs that a "dive buddy" might perform. Such precise control of the AUV normally requires accurate knowledge of the vehicle's dynamics; however, this high level of accuracy is difficult to obtain without the employment of extensive system identification efforts. Additionally, the utility of the resulting model is greatly diminished if environmental conditions or vehicle configuration change frequently or unexpectedly. An ideal control system allows the AUV to switch between operational modes and objectives while accounting for uncertain environmental conditions, payload configurations, and possible failures of onboard actuators. Adaptive control has many applications in the underwater domain and can give a robotic diver's assistant the flexibility required to enable joint robot-diver operations. Therefore, two adaptive control system approaches, Model Reference Adaptive Control and L1 Adaptive Control, are investigated here for heave control of the Tethered, Hovering Autonomous Underwater System.
Author: Jing Yan
Publisher: Springer Nature
ISBN: 9811660964
Category : Technology & Engineering
Languages : en
Pages : 222
Get Book Here
Book Description
Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Author: Marco Wiering
Publisher: Springer Science & Business Media
ISBN: 3642276458
Category : Technology & Engineering
Languages : en
Pages : 653
Get Book Here
Book Description
Reinforcement learning encompasses both a science of adaptive behavior of rational beings in uncertain environments and a computational methodology for finding optimal behaviors for challenging problems in control, optimization and adaptive behavior of intelligent agents. As a field, reinforcement learning has progressed tremendously in the past decade. The main goal of this book is to present an up-to-date series of survey articles on the main contemporary sub-fields of reinforcement learning. This includes surveys on partially observable environments, hierarchical task decompositions, relational knowledge representation and predictive state representations. Furthermore, topics such as transfer, evolutionary methods and continuous spaces in reinforcement learning are surveyed. In addition, several chapters review reinforcement learning methods in robotics, in games, and in computational neuroscience. In total seventeen different subfields are presented by mostly young experts in those areas, and together they truly represent a state-of-the-art of current reinforcement learning research. Marco Wiering works at the artificial intelligence department of the University of Groningen in the Netherlands. He has published extensively on various reinforcement learning topics. Martijn van Otterlo works in the cognitive artificial intelligence group at the Radboud University Nijmegen in The Netherlands. He has mainly focused on expressive knowledge representation in reinforcement learning settings.
Author: Bernd Clauberg
Publisher:
ISBN:
Category :
Languages : en
Pages : 159
Get Book Here
Book Description
