Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/3850
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dc.contributor.authorPriyadarshan, Pratyush-
dc.contributor.authorSrinivas, J-
dc.date.accessioned2022-12-28T10:58:26Z-
dc.date.available2022-12-28T10:58:26Z-
dc.date.issued2022-12-
dc.identifier.citation34th National Convention of Marine Engineers, Institution of Engineers, Visakhapatnam, 2-3rd December 2022en_US
dc.identifier.urihttp://hdl.handle.net/2080/3850-
dc.descriptionCopyright belongs to proceeding publisheren_US
dc.description.abstractThis paper presents dynamic modeling and control studies of an autonomous underwater vehicle, tracking targets by considering water wave disturbances. A Sliding mode control approach is implemented to minimize the tracking inaccuracies. A neural network based disturbance observer is designed and added to the control loop to minimize the effect of disturbances. The under-actuated vehicle dynamics with three input torques completely guide the vehicle motion. The work can be extended for tracking of moving objects also. It is observed that the controller with NN observer is very effective in low speeds of operation. Even though the concept of proposed autonomous underwater vehicle control is not new, some highlights towards the practical perspective are given at the end.en_US
dc.subjectAutonomous vehicleen_US
dc.subjectKinematics and dynamicsen_US
dc.subjectTrajectory trackingen_US
dc.subjectNeural network controlen_US
dc.subjectDisturbancesen_US
dc.titleTarget tracking of Autonomous underwater vehicle using a neural network disturbance observeren_US
dc.typeArticleen_US
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