| Author | Theerayuth Chatchanayuenyong |
| Call Number | AIT Diss. no.ISE-06-03 |
| Subject(s) | Mobile robots
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| Note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Dissertation ; no. ISE-06-03 |
| Abstract | Thailand has an extensive coastline and near-shore waters that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East because of its many canals. Autonomous underwater robot (AUR) will be soon a common tool to help us better understand these water resources and other environmental issues. The goal of this dissertation is to design and develop a six degree-of-freedom AUR "Chalawan", which aims to be used as a testbed for shallow water research in underwater robot autonomy as well as to implement an advanced control algorithm on the constructed testbed. It is a simple low cost open-frame design equipped with various sensors, which enables the fully autonomous operation. It can be accessed and adapted easily to support various research areas in the underwater environment. The neural network based-time optimal sliding mode control algorithm was implemented on the constructed robot testbed. The algorithm was first investigated in the simulation and then the real experiment was done to test its validity. The control system using sliding mode control (SMC) as a core controller. The SMC switches according to the Pontryagin's time optimal control principle, of which the solution is obtained by using neural network approach. Performance of the proposed controller is compared with various classical SMCs and conventional linear control system. The comparison detail results such as controller performance and error phase portrait are presented and analyzed. Such comparisons ensure the implementation success and prove it as a real time-optimal controller. The results also show the controller's effective capabilities in plant nonlinearity and parameters uncertainties |
| Year | 2006 |
| Corresponding Series Added Entry | Asian Institute of Technology. Dissertation ; no. ISE-06-03 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Ogunlana, Stephen 0.;Ratchatin Chancharoen;Furuhashi, Takeshi; |
| Scholarship Donor(s) | Office of Higher Education Commission AIT Fellowship; |
| Degree | Thesis (Ph.D.) - Asian Institute of Technology, 2006 |