Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network

Abdul Wahid A. Saif; Imil H. Imran

doi:10.1109/SSD.2017.8166959

Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network

Abdul Wahid A. Saif, Imil H. Imran

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

The paper investigates the control performance of yaw motion of nonlinear semi autonomous Unmanned Underwater Vehicle (UUV) based on Model Reference Adaptive Control (MRAC). The mathematical model of a semi-autonomous UUV called LAURS, which is developed by Sensors and Actuators Laboratory at University of Sao Paolo. We designed the controller outside of UUV and used wireless network to transmit the data from and to UUV. The is applied to MRAC to compensate dynamic system and provide the stabilization. There is time delay to transmit and receive data over wireless network. We compared the proposed control performance to control the UUV with varying scenarios of different distance between UUV and controller. The proposed control design is able to control the system.

Original language	English
Title of host publication	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	823-826
Number of pages	4
ISBN (Electronic)	9781538631751
DOIs	https://doi.org/10.1109/SSD.2017.8166959
State	Published - 4 Dec 2017

Publication series

Name	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Volume	2017-January

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Model Reference Adaptive Control
Time Delay
Unmanned Underwater Vehicle
Wireless Network
Yaw Motion

ASJC Scopus subject areas

Computer Science Applications
Signal Processing
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD.2017.8166959

Cite this

Saif, A. W. A., & Imran, I. H. (2017). Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017 (pp. 823-826). (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD.2017.8166959

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title = "Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network",

abstract = "The paper investigates the control performance of yaw motion of nonlinear semi autonomous Unmanned Underwater Vehicle (UUV) based on Model Reference Adaptive Control (MRAC). The mathematical model of a semi-autonomous UUV called LAURS, which is developed by Sensors and Actuators Laboratory at University of Sao Paolo. We designed the controller outside of UUV and used wireless network to transmit the data from and to UUV. The is applied to MRAC to compensate dynamic system and provide the stabilization. There is time delay to transmit and receive data over wireless network. We compared the proposed control performance to control the UUV with varying scenarios of different distance between UUV and controller. The proposed control design is able to control the system.",

keywords = "Model Reference Adaptive Control, Time Delay, Unmanned Underwater Vehicle, Wireless Network, Yaw Motion",

author = "Saif, \{Abdul Wahid A.\} and Imran, \{Imil H.\}",

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year = "2017",

month = dec,

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doi = "10.1109/SSD.2017.8166959",

language = "English",

series = "2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017",

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Saif, AWA & Imran, IH 2017, Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network. in 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 823-826. https://doi.org/10.1109/SSD.2017.8166959

Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network. / Saif, Abdul Wahid A.; Imran, Imil H.
2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 823-826 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The paper investigates the control performance of yaw motion of nonlinear semi autonomous Unmanned Underwater Vehicle (UUV) based on Model Reference Adaptive Control (MRAC). The mathematical model of a semi-autonomous UUV called LAURS, which is developed by Sensors and Actuators Laboratory at University of Sao Paolo. We designed the controller outside of UUV and used wireless network to transmit the data from and to UUV. The is applied to MRAC to compensate dynamic system and provide the stabilization. There is time delay to transmit and receive data over wireless network. We compared the proposed control performance to control the UUV with varying scenarios of different distance between UUV and controller. The proposed control design is able to control the system.

AB - The paper investigates the control performance of yaw motion of nonlinear semi autonomous Unmanned Underwater Vehicle (UUV) based on Model Reference Adaptive Control (MRAC). The mathematical model of a semi-autonomous UUV called LAURS, which is developed by Sensors and Actuators Laboratory at University of Sao Paolo. We designed the controller outside of UUV and used wireless network to transmit the data from and to UUV. The is applied to MRAC to compensate dynamic system and provide the stabilization. There is time delay to transmit and receive data over wireless network. We compared the proposed control performance to control the UUV with varying scenarios of different distance between UUV and controller. The proposed control design is able to control the system.

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KW - Wireless Network

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Saif AWA, Imran IH. Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 823-826. (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017). doi: 10.1109/SSD.2017.8166959

Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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