Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/3850
Title: Target tracking of Autonomous underwater vehicle using a neural network disturbance observer
Authors: Priyadarshan, Pratyush
Srinivas, J
Keywords: Autonomous vehicle
Kinematics and dynamics
Trajectory tracking
Neural network control
Disturbances
Issue Date: Dec-2022
Citation: 34th National Convention of Marine Engineers, Institution of Engineers, Visakhapatnam, 2-3rd December 2022
Abstract: This 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.
Description: Copyright belongs to proceeding publisher
URI: http://hdl.handle.net/2080/3850
Appears in Collections:Conference Papers

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