@inproceedings{acd8162274f44f4a9785960f61c388a0,
title = "Tracking control design for autonomous underwater vehicle using robust filter approach",
abstract = "Autonomous Underwater Vehicle (AUV) play an important role in underwater inspection mission. However, there are external disturbances and parameter uncertainties which degrade the performance of an AUV. A robust control is needed to minimize the effects of external influences on AUV's system behaviour, subjects to the constraint of not having a complete representation of the AUV system. This paper proposed a time invariant tracking control method for AUV using robust filter approach. The proposed controller is able to achieve robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbances with only rigid-body system inertia matrix information of AUV. Simulation results are presented to illustrate the performance of designed robust tracking control.",
keywords = "Autonomous underwater vehicle, Robust control, Tracking control",
author = "Song, {Yoong Siang} and Arshad, {Mohd Rizal}",
year = "2016",
month = dec,
day = "8",
doi = "10.1109/AUV.2016.7778699",
language = "English",
series = "Autonomous Underwater Vehicles 2016, AUV 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "374--380",
booktitle = "Autonomous Underwater Vehicles 2016, AUV 2016",
note = "2016 Autonomous Underwater Vehicles, AUV 2016 ; Conference date: 06-11-2016 Through 09-11-2016",
}