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

Diego Quiroz, Francisco Cuellar

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaOCEANS 2019 - Marseille, OCEANS Marseille 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728114507
DOI
EstadoPublicada - jun. 2019
Evento2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, Francia
Duración: 17 jun. 201920 jun. 2019

Serie de la publicación

NombreOCEANS 2019 - Marseille, OCEANS Marseille 2019
Volumen2019-June

Conferencia

Conferencia2019 OCEANS - Marseille, OCEANS Marseille 2019
País/TerritorioFrancia
CiudadMarseille
Período17/06/1920/06/19

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