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dc.contributor.authorNdoye, Ibrahima
dc.contributor.authorZhang, Ding
dc.contributor.authorAlouini, Mohamed-Slim
dc.contributor.authorLaleg-Kirati, Taous-Meriem
dc.date.accessioned2021-04-19T07:17:21Z
dc.date.available2021-02-17T08:21:38Z
dc.date.available2021-04-19T07:17:21Z
dc.date.issued2021
dc.identifier.citationN’doye, I., Zhang, D., Alouini, M.-S., & Laleg-Kirati, T.-M. (2021). Establishing and Maintaining a Reliable Optical Wireless Communication in Underwater Environment. IEEE Access, 1–1. doi:10.1109/access.2021.3073461
dc.identifier.issn2169-3536
dc.identifier.doi10.1109/ACCESS.2021.3073461
dc.identifier.urihttp://hdl.handle.net/10754/667489
dc.description.abstractThis paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity between the two autonomous vehicles within an optical communication range.We define a directed optical line-of-sight (LoS) link between the two vehicle systems. The transmitter is mounted on the AUV, while the surface ship is equipped with an optical receiver. However, this optical communication channel needs to preserve a stable transmitter-receiver position to reinforce service quality, which typically includes a bit rate and bit error rates. A cone-shaped beam region of the optical receiver is approximated based on the channel model; then, a minimum bit rate is ensured if the AUV transmitter remains inside of this region. Additionally, we design two control algorithms for the transmitter to drive the AUV to the angle of the maximum achievable data rate and maintain it in the cone-shaped beam region and under an uncertain oceanic environment. Lyapunov function-based analysis that ensures asymptotic stability of the resulting closed-loop tracking error is used to design the proposed Non-linear Proportional and Derivative (NLPD) controller. Numerical simulations are performed using MATLAB/Simulink to show the controllers’ ability to achieve favorable tracking in the presence of the solar background noise within competitive times. Finally, results demonstrate the proposed NLPD controller improves the tracking error performance more than 70% under nominal conditions and 35% with model uncertainties and disturbances compared to the original Proportional and Derivative (PD) strategy.
dc.description.sponsorshipThis work has been supported by the King Abdullah University of Science and Technology (KAUST) through Base Research Fund (BAS/1/1627-01-01).
dc.publisherIEEE
dc.relation.urlhttps://ieeexplore.ieee.org/document/9405621/
dc.relation.urlhttps://ieeexplore.ieee.org/document/9405621/
dc.relation.urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9405621
dc.rightsThis article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectPositioning and tracking control
dc.subjectoptical wireless communication
dc.subjectautonomous underwater vehicle
dc.subjectreference position
dc.subjectproportional derivative controller (PD)
dc.subjectnon-linear proportional and derivative (NLPD) controller
dc.titleEstablishing and Maintaining a Reliable Optical Wireless Communication in Underwater Environment
dc.typeArticle
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentElectrical Engineering Program
dc.contributor.departmentComputational Bioscience Research Center (CBRC)
dc.identifier.journalIEEE Access
dc.eprint.versionPost-print
dc.contributor.institutionDepartment of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong, China.
dc.identifier.pages1-1
dc.identifier.arxivid2102.04724
kaust.personNdoye, Ibrahima
kaust.personAlouini, Mohamed-Slim
kaust.personLaleg-Kirati, Taous-Meriem
kaust.grant.numberBAS/1/1627-01-01
refterms.dateFOA2021-02-17T08:22:16Z
kaust.acknowledged.supportUnitBAS
kaust.acknowledged.supportUnitBase Research Fund


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