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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

6 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 original	Inglés
Título de la publicación alojada	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781728114507
DOI	https://doi.org/10.1109/OCEANSE.2019.8867249
Estado	Publicada - jun. 2019
Evento	2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, Francia Duración: 17 jun. 2019 → 20 jun. 2019

Serie de la publicación

Nombre	OCEANS 2019 - Marseille, OCEANS Marseille 2019
Volumen	2019-June

Conferencia

Conferencia	2019 OCEANS - Marseille, OCEANS Marseille 2019
País/Territorio	Francia
Ciudad	Marseille
Período	17/06/19 → 20/06/19

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 7: Energía asequible y no contaminante
ODS 13: Acción por el clima
ODS 14: Vida submarina

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10.1109/OCEANSE.2019.8867249

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Quiroz, D., & Cuellar, F. (2019). Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline. En OCEANS 2019 - Marseille, OCEANS Marseille 2019 Artículo 8867249 (OCEANS 2019 - Marseille, OCEANS Marseille 2019; Vol. 2019-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANSE.2019.8867249

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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",

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Quiroz, D & Cuellar, F 2019, Design of a low cost AUV with Adaptive Backstepping Control System to monitor the Peruvian coastline. En 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, Francia, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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.

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KW - Submarine vehicle

KW - UWG

KW - Water monitoring

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

Resumen

Serie de la publicación

Conferencia

ODS de las Naciones Unidas

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