Abstract
This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.
Original language | English |
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Pages (from-to) | 264-275 |
Number of pages | 12 |
Journal | Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering |
Volume | 233 |
Issue number | 3 |
DOIs | |
Publication status | Published - 1 Mar 2019 |
Externally published | Yes |
Keywords
- actuator constraints
- autonomous underwater vehicle
- Modeling
- sliding mode control