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An adaptive control law for controlled Lagrangian particle tracking

Authors:

Fumin ZhangAuthors Info & Claims

WUWNet '16: Proceedings of the 11th International Conference on Underwater Networks & Systems

Article No.: 11, Pages 1 - 5

https://doi.org/10.1145/2999504.3001077

Published: 24 October 2016 Publication History

Abstract

Controlled Lagrangian particle tracking (CLPT) is a method that evaluates the accuracy of ocean models employed for the navigation of autonomous underwater vehicles (AUVs). The accuracy of ocean models can be represented by the discrepancy between the predicted and true trajectories of AUVs, called controlled Lagrangian prediction error (CLPE). To reduce CLPE, we develop an adaptive control law that enables AUVs to follow the predicted trajectory in the true flow field. Because CLPE is exponentially increasing and navigation performance is significantly degraded when previous controllers are used, we propose the adaptive control law that makes CLPE converges to zero. Although true flows are unknown, the proposed control law identifies the true flow field so that AUVs follows the predicted trajectory. We prove that CLPE is ultimately bounded under bounded disturbances. The proposed control law is verified by simulation results.

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Cited By

Hou MLiu SZhang FEdwards C(2018)Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow FieldOCEANS 2018 MTS/IEEE Charleston10.1109/OCEANS.2018.8604585(1-6)Online publication date: Oct-2018
https://doi.org/10.1109/OCEANS.2018.8604585
Cho SZhang FEdwards C(2017)Detecting Abnormal Speed of Marine Robots using Controlled Lagrangian Particle Tracking MethodsProceedings of the 12th International Conference on Underwater Networks & Systems10.1145/3148675.3148714(1-5)Online publication date: 6-Nov-2017
https://dl.acm.org/doi/10.1145/3148675.3148714

Index Terms

An adaptive control law for controlled Lagrangian particle tracking
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
      2. Robotic control

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Information

Published In

cover image ACM Conferences

WUWNet '16: Proceedings of the 11th International Conference on Underwater Networks & Systems

October 2016

210 pages

ISBN:9781450346375

DOI:10.1145/2999504

General Chairs:
Payman Arabshahi
University of Washington
,
Dajun Sun
Harbin Engineering University
,
Wen Xu
Zhejiang University

Copyright © 2016 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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ASC: Acoustical Society of China
SIGMOBILE: ACM Special Interest Group on Mobility of Systems, Users, Data and Computing
ACM: Association for Computing Machinery

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 24 October 2016

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WUWNET '16

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WUWNET '16: International Conference on Underwater Networks & Systems

October 24 - 26, 2016

Shanghai, China

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WUWNet '16 Paper Acceptance Rate 53 of 75 submissions, 71%;

Overall Acceptance Rate 84 of 180 submissions, 47%

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Cited By

Hou MLiu SZhang FEdwards C(2018)Path Tracking Error Analysis for Underwater Glider Navigation in a Spatially and Temporally Varying Flow FieldOCEANS 2018 MTS/IEEE Charleston10.1109/OCEANS.2018.8604585(1-6)Online publication date: Oct-2018
https://doi.org/10.1109/OCEANS.2018.8604585
Cho SZhang FEdwards C(2017)Detecting Abnormal Speed of Marine Robots using Controlled Lagrangian Particle Tracking MethodsProceedings of the 12th International Conference on Underwater Networks & Systems10.1145/3148675.3148714(1-5)Online publication date: 6-Nov-2017
https://dl.acm.org/doi/10.1145/3148675.3148714

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