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

4 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

Access to Document

10.1177/0959651818791399Licence: In Copyright

Cite this

@article{e6d27cbbbc054c61983620dddce2da04,

title = "Experimental validation of constraint mitigation algorithm in underwater robot depth control",

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.",

keywords = "actuator constraints, autonomous underwater vehicle, Modeling, sliding mode control",

author = "Rosendo, {Juan Luis} and Benoit Clement and Fabricio Garelli",

year = "2019",

month = mar,

day = "1",

doi = "10.1177/0959651818791399",

language = "English",

volume = "233",

pages = "264--275",

journal = "Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering",

issn = "0959-6518",

publisher = "SAGE Publications Ltd",

number = "3",

}

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

TY - JOUR

T1 - Experimental validation of constraint mitigation algorithm in underwater robot depth control

AU - Rosendo, Juan Luis

AU - Clement, Benoit

AU - Garelli, Fabricio

PY - 2019/3/1

Y1 - 2019/3/1

N2 - 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.

AB - 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.

KW - actuator constraints

KW - autonomous underwater vehicle

KW - Modeling

KW - sliding mode control

UR - http://www.scopus.com/inward/record.url?scp=85052554025&partnerID=8YFLogxK

U2 - 10.1177/0959651818791399

DO - 10.1177/0959651818791399

M3 - Article

AN - SCOPUS:85052554025

SN - 0959-6518

VL - 233

SP - 264

EP - 275

JO - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

JF - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering

IS - 3

ER -

Experimental validation of constraint mitigation algorithm in underwater robot depth control

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this