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Depth control using artifitial vision with time-delay of an AUV

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4 Author(s)
E. Campos ; Automatic Control Department, CINVESTAV, Av. Instituto Politécnico Nacional 2508. 07300 México D.F., México ; J. Torres ; S. MondiĆ© ; R. Lozano

The purpose of this paper is to present the analysis of the dynamics immersion of an Autonomous Underwater Vehicle considering the time-delay produced by implementing artificial vision algorithm. The parameter tuning of the PD controller is based on the analysis of the stability region taking into account the vision delay. The PD controller goal is to keep the vehicle in a region close to the landmark, and the performance is shown in simulation and real-time experimental results.

Published in:

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Date of Conference:

26-28 Sept. 2012