Observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle
The analysis and design of observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle (URV) is investigated. The observer is required for estimating accurately the unknown state variables in the full-state feedback control laws developed, whereby these control la...
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| creator | Loh, R. N. K. Karsiti, M. N. |
| description | The analysis and design of observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle (URV) is investigated. The observer is required for estimating accurately the unknown state variables in the full-state feedback control laws developed, whereby these control laws can be implemented with the unknown states replaced by their observer estimates. The input-output feedback linearization approach and design techniques are employed. Three approximation schemes for smoothing the signum function in the URV model are developed; these smoothing schemes are required for deriving the linearizing feedback control laws and the related results. Simulation results show that the introduction of observer-based nonlinear control would provide a robust method to stabilize and control the depth position of the URV. |
| doi_str_mv | 10.1109/ICIAS.2012.6306070 |
| format | Conference Proceeding |
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Simulation results show that the introduction of observer-based nonlinear control would provide a robust method to stabilize and control the depth position of the URV.</description><subject>Approximation methods</subject><subject>Artificial intelligence</subject><subject>Electronic ballasts</subject><subject>Feedback control</subject><subject>feedback linearization</subject><subject>Force</subject><subject>observer-based nonlinear control systems</subject><subject>Observers</subject><subject>Smoothing methods</subject><subject>spherical URV</subject><subject>variable ballast</subject><isbn>1457719681</isbn><isbn>9781457719684</isbn><isbn>9781457719660</isbn><isbn>1457719673</isbn><isbn>1457719665</isbn><isbn>9781457719677</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kLFOwzAYhI0QElDyArD4BVL824ljj1UFNFKlDnSPHOcPMQp2ZIci3p4gyi333Q03HCH3wNYATD_W23rzuuYM-FoKJlnFLkimKwVFWVWgpWSX5PY_KLgmWUrvbJECVYC6Ic2hTRhPGPPWJOyoD350Hk2kNvg5hpGGnnY4zQOdQnKzC975t9_S0DQNGJ01I_30HcYvM2OkMbRhdpaecHB2xDty1ZsxYXb2FTk-Px23u3x_eKm3m33uNJtzzRXYUgiuu9KYUmIpeF8UnZFV10LRcwCBVd_aYgGteiYW1CWXTKFlIMSKPPzNOkRspug-TPxuzpeIH3b7VeE</recordid><startdate>201206</startdate><enddate>201206</enddate><creator>Loh, R. 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N.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-9281c53329d5aa56e532f44da67db14f2113e7fbc411398f03bc4952608ec0133</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Approximation methods</topic><topic>Artificial intelligence</topic><topic>Electronic ballasts</topic><topic>Feedback control</topic><topic>feedback linearization</topic><topic>Force</topic><topic>observer-based nonlinear control systems</topic><topic>Observers</topic><topic>Smoothing methods</topic><topic>spherical URV</topic><topic>variable ballast</topic><toplevel>online_resources</toplevel><creatorcontrib>Loh, R. N. K.</creatorcontrib><creatorcontrib>Karsiti, M. N.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Loh, R. N. K.</au><au>Karsiti, M. N.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle</atitle><btitle>2012 4th International Conference on Intelligent and Advanced Systems (ICIAS2012)</btitle><stitle>ICIAS</stitle><date>2012-06</date><risdate>2012</risdate><volume>2</volume><spage>519</spage><epage>525</epage><pages>519-525</pages><isbn>1457719681</isbn><isbn>9781457719684</isbn><eisbn>9781457719660</eisbn><eisbn>1457719673</eisbn><eisbn>1457719665</eisbn><eisbn>9781457719677</eisbn><abstract>The analysis and design of observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle (URV) is investigated. The observer is required for estimating accurately the unknown state variables in the full-state feedback control laws developed, whereby these control laws can be implemented with the unknown states replaced by their observer estimates. The input-output feedback linearization approach and design techniques are employed. Three approximation schemes for smoothing the signum function in the URV model are developed; these smoothing schemes are required for deriving the linearizing feedback control laws and the related results. Simulation results show that the introduction of observer-based nonlinear control would provide a robust method to stabilize and control the depth position of the URV.</abstract><pub>IEEE</pub><doi>10.1109/ICIAS.2012.6306070</doi><tpages>7</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Approximation methods Artificial intelligence Electronic ballasts Feedback control feedback linearization Force observer-based nonlinear control systems Observers Smoothing methods spherical URV variable ballast |
| title | Observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle |
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