Autonomous Underwater Vehicles: Localization, Tracking, and Formation: Cognitive Intelligence and Robotics
Autor Jing Yan, Xian Yang, Haiyan Zhao, Xiaoyuan Luo, Xinping Guanen Limba Engleză Hardback – 2 noi 2021
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Specificații
ISBN-10: 9811660956
Pagini: 211
Ilustrații: XV, 211 p. 93 illus. in color.
Dimensiuni: 155 x 235 x 19 mm
Greutate: 0.5 kg
Ediția:1st ed. 2021
Editura: Springer Nature Singapore
Colecția Springer
Seria Cognitive Intelligence and Robotics
Locul publicării:Singapore, Singapore
Cuprins
1. Introduction
1.1 Dynamical Model of Autonomous Underwater Vehicles
1.2 Weak Communication Characteristic of Underwater Acoustic Communication
1.3 Existing Literatures on the Localization, Tracking and Formation
2. Persistent Localization of Autonomous Underwater Vehicles without Velocity Measurements
2.1 Introduction
2.2 System Model and Problem Formulation
2.3 Main Results
2.3.1 Persistent Localization Design
2.3.1.1 Observer-Based Motion Prediction Strategy Design
2.3.1.2 Graph-Based Persistent Localization Strategy Design
2.3.2 Performance Analysis
2.3.2.1 Stability Analysis
2.3.2.2 Convergence Analysis
2.3.2.3 Computational Overhead
2.3.2.4 Communication Overhead
2.4 Numerical Simulation
2.4.1 Simulation of Observer-based Motion Prediction
2.4.2 Simulation of Persistent Localization
2.5 Summary
References
3. Joint Localization and Tracking of Autonomous Underwater Vehicle with State Disturbances
3.1 Introduction
3.2 System Model and Problem Formulation
3.3 Main Results
3.3.1 Joint Localization and Tracking Design
3.3.1.1 Self-Localization Method Design 3.3.1.2 Model-Free Tracking Controller Design
3.3.2 Performance Analysis
3.3.2.1 Convergence Analysis of Localization Method
3.3.2.2 Cramer-Rao Lower Bound of Localization Method
3.3.2.3 Boundness Analysis of Time-Delay Estimation Error
3.3.2.4 Convergence Analysis of Tracking Controller
3.4 Numerical Simulations and Experiments 3.4.1 Simulation of Self-Localization Method
3.4.2 Simulation of Tracking Controller
3.4.3 Experimental Results 3.5 Summary
Reference
4. Joint Localization and Tracking of Autonomous Underwater Vehicle with Model Uncertainty
4.1 Introduction
4.2 System Model and Problem Formulation
4.3 Main Results
4.3.1 Joint Localization and Tracking Design
4.3.1.1 Self-Localization Algorithm Design
4.3.1.2 Reinforcement Learning Based Tracking Controller Design
4.3.2 Convergence Analysis of Tracking Controller
4.4 Numerical Simulation
4.4.1 Simulation of Self-Localization Method
4.4.2 Simulation of Tracking Controller
4.5 Summary
Reference
5. Tracking Control of Autonomous Underwater Vehicle with time Delay and Actuator Saturation
5.1 Introduction
5.2 System Model and Problem Formulation
5.3 Main Results
5.3.1 Tracking Controller Design
5.3.2 Stability Condition and DOA Estimation
5.4 Numerical Simulations and Experiments
5.4.1 Simulation Results
5.4.2 Experimental Results
5.5 Summary
Reference
6. Finite-Time Tracking Control of Autonomous Underwater Vehicle without Velocity Measurements
6.1 Introduction
6.2 System Model and Problem Formulation
6.3 Main Results
6.3.1 Finite-Time Tracking Controller Design
6.3.2 Performance Analysis 6.3.2.1 Stability Condition of Velocity Observer
6.3.2.1 Stability Analysis of Tracking Controller
6.4 Numerical Simulations and Experiments
6.4.1 Simulation Results
6.4.1.1 Simulation results of Velocity Observer
6.4.1.2 Simulation results of Tracking Controller
6.4.2 Experimental Results
6.5 Summary
Reference
7. Formation Control of Autonomous Underwater Vehicles with Communication Delay
7.1 Introduction
7.2 System Model and Problem Formulation
7.3 Main Results 7.3.1 Tracking Control for Single-AUV System
7.3.2 Formation Control for Multi-AUV System
7.3.3 Performance Analysis
7.4 Numerical Simulations and Experiments
7.4.1 Simulation Results
7.4.2 Experimental Results
7.5 Summary
Reference
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Caracteristici
Offers solutions for problems related to autonomous underwater vehicles’ communication
Shares numerous insights into the design of integrated autonomous underwater vehicle systems