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This paper presents a robust optimal controller for a Hovering Autonomous Underwater Vehicle (HAUV) in station keeping. The proposed controller does not require added mass, hydrodynamic drag force, and buoyancy force information of the HAUV system. The proposed controller is a time invariant controller which combined optimal control technique and robust filter control technique. The optimal control...
Autonomous Underwater Vehicle (AUV) play an important role in underwater inspection mission. However, there are external disturbances and parameter uncertainties which degrade the performance of an AUV. A robust control is needed to minimize the effects of external influences on AUV's system behaviour, subjects to the constraint of not having a complete representation of the AUV system. This paper...
This paper presents a pre-mission coverage path planning specifically for visual inspection of a well-characterized underwater pole using an autonomous underwater vehicle. The target environment is modelled as a planar map for easy path planning. Various inspection paths are constructed based on the survey of current available coverage trajectories. Then, all the designed paths are analyzed to find...
This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results...
Hovering autonomous underwater vehicle (HAUV) play an important role in short distance underwater inspection mission. There are a lot of disturbances and uncertainties underwater, a robust control is needed to minimize the effects of external influences on HAUV's system behaviour, subjects to the constraint of not having a complete representation of the HAUV system. This paper describes the development...
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