Bernard Voon Ee How

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In underwater sensor networks (UWSNs), determining the location of every sensor is important and the process of estimating the location of each node in a sensor network is known as localization. While various localization algorithms have been proposed for terrestrial sensor networks, there are relatively few localization schemes for UWSNs. The(More)
In this paper, robust adaptive neural network (NN) control is investigated for a general class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems with unknown control coefficient matrices and input nonlinearities. For nonsymmetric input nonlinearities of saturation and deadzone, variable structure control (VSC) in combination with(More)
In this paper, robust adaptive boundary control for a flexible marine riser with vessel dynamics is developed to suppress the riser’s vibration. To provide an accurate and concise representation of the riser’s dynamic behavior, the flexible marine riser with vessel dynamics is described by a distributed parameter system with a partial differential equation(More)
In this paper, we investigate the leader-follower formation control of underactuated Autonomous Underwater Vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower(More)
In this paper, positioning control is investigated for the installation of subsea hardware with thrusters attached under time-varying ocean current. Adaptive neural approximation techniques are employed in the design of the control law and the stability is demonstrated by means of a backstepping and Lyapunov synthesis approach. Semiglobal uniform(More)
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