Experimental validation of constraint mitigation algorithm in underwater robot depth control

Juan Luis Rosendo; Benoit Clement; Fabricio Garelli

doi:10.1177/0959651818791399

Experimental validation of constraint mitigation algorithm in underwater robot depth control

Juan Luis Rosendo, Benoit Clement, Fabricio Garelli

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

2 Citations (Scopus)

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
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	https://doi.org/10.1177/0959651818791399
Publication status	Published - 1 Mar 2019
Externally published	Yes

Keywords

actuator constraints
autonomous underwater vehicle
Modeling
sliding mode control

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10.1177/0959651818791399Licence: In Copyright

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Experimental validation of constraint mitigation algorithm in underwater robot depth control. / Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio.

In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, Vol. 233, No. 3, 01.03.2019, p. 264-275.

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

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Experimental validation of constraint mitigation algorithm in underwater robot depth control

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