A robust sonar servo control scheme for wall-following using an autonomous underwater vehicle.
George C. KarrasCharalampos P. BechlioulisHashim Kemal AbdellaTom LarkworthyKostas J. KyriakopoulosDavid LanePublished in: IROS (2013)
Keyphrases
- control scheme
- autonomous underwater vehicle
- control loop
- control system
- pid controller
- closed loop
- control strategy
- electro hydraulic
- dynamic model
- robot manipulators
- predictive control
- controller design
- neural model
- control law
- fuzzy controller
- induction motor
- robotic manipulator
- fuzzy control
- adaptive neural control
- parameter tuning
- pi controller