Underwater Vehicle Modeling and Control Application to Ciscrea Robot

Autor:	Irvin Probst, Ming Li, Rui Yang, Ali Mansours, Benoit Clement
Předmět:	Nonlinear system Engineering Heading (navigation) business.industry Control theory Calibration Robot PID controller Control engineering Underwater business Added mass
Zdroj:	HAL Quantitative Monitoring of the Underwater Environment ISBN: 9783319321059
Popis:	Underwater competitions confirm that the PID yaw controller is less efficient for low mass Autonomous Underwater Vehicle (AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior, waves, current, AUV bouyance change, motor calibration variations, sensor disturbance and battery variations perturbate the PID control behavior a lot. Therefore, in this paper we present a model based robust controller to control the yaw heading of AUV CISCREA. The modeling result was verified with experiments, and the robust controller was simulated.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6cc6a911f96ae3722ba8f171a5fd7045 https://hal.archives-ouvertes.fr/hal-01119676 Zobrazit plný text záznamu