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

3 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.",

keywords = "application, AUV, modelling, Robust Control",

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T1 - A Modeling and Control approach for a cubic AUV

AU - Clement, Benoit

AU - Rui, Yang

AU - Mansour, Ali

AU - Ming, Li

PY - 2016

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N2 - 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.

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

UR - https://www.scopus.com/pages/publications/84994189030

U2 - 10.1016/j.ifacol.2016.10.355

DO - 10.1016/j.ifacol.2016.10.355

M3 - Article

AN - SCOPUS:84994189030

SN - 2405-8963

VL - 49

SP - 279

EP - 284

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 23

ER -

A Modeling and Control approach for a cubic AUV

Abstract

Keywords

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