Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline

Diego Quiroz; Francisco Cuellar

doi:10.1109/OCEANSE.2019.8867249

Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline

Diego Quiroz, Francisco Cuellar

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

5 Scopus citations

Abstract

The following paper describes the design, implementation and simulation tests of an underwater glider (UWG) designed to monitor and study the Peruvian coastline. This UWG is developed in order to be a low cost measuring tool which will help to characterized the marine ecosystem and the impact that commercial activities and climate change are having upon it. An adaptive backstepping controller (ABC) is designed for the UWG which is capable of stabilizing the vehicle under the presence of unknown hydrodynamic coefficients. It is shown that the controlled can maintain a higher tracking precision, reducing the RMS error by 50% and improve the vehicle energy efficiency by 17%, by improving the vehicle response during transitions between downwards and upwards glides.

Original language	English
Title of host publication	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728114507
DOIs	https://doi.org/10.1109/OCEANSE.2019.8867249
State	Published - Jun 2019
Event	2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, France Duration: 17 Jun 2019 → 20 Jun 2019

Publication series

Name	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Volume	2019-June

Conference

Conference	2019 OCEANS - Marseille, OCEANS Marseille 2019
Country/Territory	France
City	Marseille
Period	17/06/19 → 20/06/19

Keywords

Adaptive backstepping
Submarine vehicle
UWG
Water monitoring

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/OCEANSE.2019.8867249

Cite this

@inproceedings{2fd4756e948a401fab6d750e72eaaa92,

title = "Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline",

abstract = "The following paper describes the design, implementation and simulation tests of an underwater glider (UWG) designed to monitor and study the Peruvian coastline. This UWG is developed in order to be a low cost measuring tool which will help to characterized the marine ecosystem and the impact that commercial activities and climate change are having upon it. An adaptive backstepping controller (ABC) is designed for the UWG which is capable of stabilizing the vehicle under the presence of unknown hydrodynamic coefficients. It is shown that the controlled can maintain a higher tracking precision, reducing the RMS error by 50% and improve the vehicle energy efficiency by 17%, by improving the vehicle response during transitions between downwards and upwards glides.",

keywords = "Adaptive backstepping, Submarine vehicle, UWG, Water monitoring",

author = "Diego Quiroz and Francisco Cuellar",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 OCEANS - Marseille, OCEANS Marseille 2019 ; Conference date: 17-06-2019 Through 20-06-2019",

year = "2019",

month = jun,

doi = "10.1109/OCEANSE.2019.8867249",

language = "English",

series = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",

}

Quiroz, D & Cuellar, F 2019, Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline. in OCEANS 2019 - Marseille, OCEANS Marseille 2019., 8867249, OCEANS 2019 - Marseille, OCEANS Marseille 2019, vol. 2019-June, Institute of Electrical and Electronics Engineers Inc., 2019 OCEANS - Marseille, OCEANS Marseille 2019, Marseille, France, 17/06/19. https://doi.org/10.1109/OCEANSE.2019.8867249

Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline. / Quiroz, Diego; Cuellar, Francisco.
OCEANS 2019 - Marseille, OCEANS Marseille 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8867249 (OCEANS 2019 - Marseille, OCEANS Marseille 2019; Vol. 2019-June).

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

TY - GEN

T1 - Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline

AU - Quiroz, Diego

AU - Cuellar, Francisco

PY - 2019/6

Y1 - 2019/6

N2 - The following paper describes the design, implementation and simulation tests of an underwater glider (UWG) designed to monitor and study the Peruvian coastline. This UWG is developed in order to be a low cost measuring tool which will help to characterized the marine ecosystem and the impact that commercial activities and climate change are having upon it. An adaptive backstepping controller (ABC) is designed for the UWG which is capable of stabilizing the vehicle under the presence of unknown hydrodynamic coefficients. It is shown that the controlled can maintain a higher tracking precision, reducing the RMS error by 50% and improve the vehicle energy efficiency by 17%, by improving the vehicle response during transitions between downwards and upwards glides.

AB - The following paper describes the design, implementation and simulation tests of an underwater glider (UWG) designed to monitor and study the Peruvian coastline. This UWG is developed in order to be a low cost measuring tool which will help to characterized the marine ecosystem and the impact that commercial activities and climate change are having upon it. An adaptive backstepping controller (ABC) is designed for the UWG which is capable of stabilizing the vehicle under the presence of unknown hydrodynamic coefficients. It is shown that the controlled can maintain a higher tracking precision, reducing the RMS error by 50% and improve the vehicle energy efficiency by 17%, by improving the vehicle response during transitions between downwards and upwards glides.

KW - Adaptive backstepping

KW - Submarine vehicle

KW - UWG

KW - Water monitoring

UR - http://www.scopus.com/inward/record.url?scp=85085919833&partnerID=8YFLogxK

U2 - 10.1109/OCEANSE.2019.8867249

DO - 10.1109/OCEANSE.2019.8867249

M3 - Conference contribution

AN - SCOPUS:85085919833

T3 - OCEANS 2019 - Marseille, OCEANS Marseille 2019

BT - OCEANS 2019 - Marseille, OCEANS Marseille 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 OCEANS - Marseille, OCEANS Marseille 2019

Y2 - 17 June 2019 through 20 June 2019

ER -

Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline

Abstract

Publication series

Conference

Keywords

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this