Experimental validation of constraint mitigation algorithm in underwater robot depth control

Juan Luis Rosendo, Benoit Clement, Fabricio Garelli

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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 languageEnglish
Pages (from-to)264-275
Number of pages12
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number3
Publication statusPublished - 1 Mar 2019
Externally publishedYes


  • actuator constraints
  • autonomous underwater vehicle
  • Modeling
  • sliding mode control


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