Autonomous underwater vehicles : localization, tracking, and formation / / Jing Yan [et al.]

• Autore: Yan Jing
• Pubblicazione: Singapore : , : Springer, , [2021]; ©2021
• Descrizione fisica: 1 online resource (222 pages)
• Disciplina: 623.8205
• Soggetto topico: Autonomous underwater vehicles
• Nota di contenuto: Intro -- Preface -- Contents -- Symbols and Acronyms -- 1 Introduction -- 1.1 Underwater Observation Network -- 1.2 An Overview of the Existing Works -- 1.2.1 Ubiquitous Localization of AUVs -- 1.2.2 Persistent Tracking Control for a Single AUV -- 1.2.3 Cooperative Formation for Multiple AUVs -- 1.3 Research Challenges and Contributions of This Book -- References -- 2 Rigid Graph-Based Asynchronous Localization of AUVs -- 2.1 Introduction -- 2.2 Network Model and Problem Formulation -- 2.2.1 Network Model -- 2.2.2 Problem Formulation -- 2.3 Main Results -- 2.3.1 Observer-Based Motion Prediction for AUV -- 2.3.2 Minimum Rigid Graph-Based Localization -- 2.3.3 Performance Analyses -- 2.4 Simulation and Experimental Results -- 2.4.1 Simulation Studies -- 2.4.2 Experiment Studies -- 2.5 Conclusion -- References -- 3 Slide Mode-Based Joint Localization and Tracking of a Single AUV -- 3.1 Introduction -- 3.2 System Model and Problem Formulation -- 3.2.1 Model Constructions -- 3.2.2 Problem Formulation -- 3.3 Joint Localization and Tracking Design -- 3.3.1 Self-localization Algorithm Design -- 3.3.2 Model-Free Tracking Controller Design -- 3.4 Performance Analysis -- 3.4.1 Convergence of the Localization Algorithm -- 3.4.2 CRLB of the Localization Algorithm -- 3.4.3 Boundness of the TDE Error -- 3.4.4 Convergence for the Tracking Controller -- 3.5 Simulation and Experimental Results -- 3.5.1 Simulation Studies -- 3.5.2 Experimental Studies -- 3.6 Conclusion -- References -- 4 Joint Localization and Tracking of AUV Via Multivariate Probabilistic Collocation -- 4.1 Introduction -- 4.2 System Model and Problem Formulation -- 4.2.1 Model Constructions -- 4.2.2 Problem Formulation -- 4.3 Joint Localization and Tracking Design -- 4.3.1 Self-localization Algorithm Design -- 4.3.2 RL-Based Tracking Controller Design -- 4.4 Simulation Studies -- 4.5 Conclusion. ; References -- 5 Finite-Time Tracking Control of AUV with Model Uncertainty -- 5.1 Introduction -- 5.2 System Formulation -- 5.3 Control Design and Stability Analysis -- 5.3.1 Tracking Control Without Disturbance -- 5.3.2 Finite-Time Tracking Control with Disturbances -- 5.4 Simulation -- 5.5 Conclusion -- References -- 6 Finite-Time Tracking Control of AUV Without Velocity Measurements -- 6.1 Introduction -- 6.2 Problem Formulation -- 6.3 Finite-Time Tracking Approach -- 6.3.1 Finite-Time Velocity Observer -- 6.3.2 A-NFTSM Tracking Controller -- 6.4 Performance Analyses -- 6.4.1 Accuracy of the Buoy-Assisted Localization -- 6.4.2 Stability Analysis for the Velocity Observer -- 6.4.3 Stability Analysis for the Tracking Controller -- 6.5 Simulation and Experimental Studies -- 6.5.1 Simulation Studies -- 6.5.2 Experimental Studies -- 6.6 Conclusion -- References -- 7 Tracking Control of AUV with Time Delay and Input Saturation -- 7.1 Introduction -- 7.2 Model and Problem Formulation -- 7.3 Controller Design and Stability Analysis -- 7.3.1 Design of the Tracking Controller -- 7.3.2 Stability Condition and DOA Estimation -- 7.4 Simulation and Experiment Results -- 7.4.1 Simulation Studies -- 7.4.2 Implementation and Experimental Studies -- 7.5 Conclusion -- References -- 8 Tracking and Formation for Multiple AUVs with Time Delay -- 8.1 Introduction -- 8.2 Problem Formulation -- 8.3 Controller Design and Stability Analysis -- 8.3.1 Tracking Control for Single-AUV System -- 8.3.2 Formation Control for Multi-AUV System -- 8.4 Simulation and Experimental Results -- 8.4.1 Simulation Studies -- 8.4.2 Experimental Studies -- 8.5 Conclusion -- References -- 9 Future Research Directions -- 9.1 Space-Air-Ground-Sea Network Architecture -- 9.2 Channel Prediction for Communication Support -- 9.3 Model-Free Optimization Control -- References.
• Sommario/riassunto: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
• Titolo autorizzato: Autonomous Underwater Vehicles
• ISBN: 981-16-6096-4
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 996464395703316
• Lo trovi qui: Univ. di Salerno
• Serie: Cognitive intelligence and robotics.