A Modeling and Control approach for a cubic AUV

Benoit Clement; Yang Rui; Ali Mansour; Li Ming

doi:10.1016/j.ifacol.2016.10.355

A Modeling and Control approach for a cubic AUV

Benoit Clement, Yang Rui, Ali Mansour, Li Ming

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H_∞ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.

Original language	English
Pages (from-to)	279-284
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	49
Issue number	23
DOIs	https://doi.org/10.1016/j.ifacol.2016.10.355
Publication status	Published - 2016
Externally published	Yes

Keywords

application
AUV
modelling
Robust Control

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10.1016/j.ifacol.2016.10.355Licence: In Copyright

Cite this

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abstract = "This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H∞ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.",

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AU - Rui, Yang

AU - Mansour, Ali

AU - Ming, Li

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AB - This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H∞ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.

KW - application

KW - AUV

KW - modelling

KW - Robust Control

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M3 - Article

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EP - 284

JO - IFAC-PapersOnLine

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A Modeling and Control approach for a cubic AUV

Abstract

Keywords

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