Openly accessible

Reducing actuator switchings for motion control of autonomous underwater vehicles

Chyba, Monique, Grammatico, Sergio, Huynh, Van T., Marriott, John, Piccoli, Benedetto and Smith, Ryan N. 2013, Reducing actuator switchings for motion control of autonomous underwater vehicles, in ACC 2013 : Proceedings of the American Control Conference 2013, IEEE, Piscataway, N.J., pp. 1406-1411, doi: 10.1109/ACC.2013.6580033.

Attached Files
Name Description MIMEType Size Downloads
huynh-reducingactuator-post-2013.pdf Accepted version application/pdf 507.89KB 6

Title Reducing actuator switchings for motion control of autonomous underwater vehicles
Author(s) Chyba, Monique
Grammatico, Sergio
Huynh, Van T.ORCID iD for Huynh, Van T. orcid.org/0000-0001-8668-3145
Marriott, John
Piccoli, Benedetto
Smith, Ryan N.
Conference name American Control. Conference (2013 : Washington, D.C.)
Conference location Washington, D.C.
Conference dates 2013/06/17 - 2013/06/19
Title of proceedings ACC 2013 : Proceedings of the American Control Conference 2013
Publication date 2013
Conference series American Control Conference
Start page 1406
End page 1411
Total pages 7
Publisher IEEE
Place of publication Piscataway, N.J.
Summary A priority when designing control strategies for autonomous underwater vehicles is to emphasize their cost of implementation on a real vehicle. Indeed, the major issue is that due to the vehicles' design and actuation modes usually under consideration for underwater platforms, the number of actuator switchings must be kept to a small value to ensure feasibility and precision. This constraint is typically not satisfied by optimal trajectories, for instance. Our goal is to provide a trajectory which preserves with great accuracy some of the properties of a desired trajectory that reduces the implementation cost. We first introduce the theoretical framework and illustrate our algorithm on two AUV applications. In both cases, we can achieve similar localization results in the same fixed time with respect to the reference trajectory, but with significantly fewer actuator switchings.
ISBN 9781479901777
ISSN 0743-1619
Language eng
DOI 10.1109/ACC.2013.6580033
Field of Research 091303 Autonomous Vehicles
HERDC Research category E1.1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2013, AACC American Automatic Control Council
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30087297

Document type: Conference Paper
Collections: School of Engineering
Open Access Collection
Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 0 times in TR Web of Science
Scopus Citation Count Cited 7 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 61 Abstract Views, 10 File Downloads  -  Detailed Statistics
Created: Wed, 23 Aug 2017, 15:06:41 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.