@inproceedings{0fe06e0ccf81438391b777c3b9589b45,
title = "Hardware-in-the-Loop Simulation Applied to AUV Control",
abstract = "This paper introduces a hardware-in-the-Ioop (HIL) system to simulate plug and play controllers for autonomous underwater vehicles (AUVs). The HIL system is a real-time simulator composed of two parts: a model-based virtual plant and an embedded controller. As HIL system does not require the design of physical systems, therefore, it can reduce the control design cost. In this paper, controller and model are both implemented using Mission Oriented Operating Suite-Interval Programming (MOOS-IvP) software. At first, the AUV mathematical model is obtained by dynamic and hydrodynamic analyses. Then, a robust controller is designed considering the uncertainties and nonlinearities. The robust controller is implemented on a Raspberry Pi microcomputer, while the virtual plant is simulated on a computer. Finally, MOOS-IvP based HIL simulations are compared to MATLAB simulations.",
keywords = "Autonomous underwater vehicle, Hardware-in-the-Ioop, modelling, MOOS-IvP, robust control",
author = "D. Bao and R. Yang and Y. Ma and B. Clement and A. Mansour and D. Hou and M. Li",
year = "2019",
month = jan,
day = "24",
doi = "10.1109/CAC.2018.8623733",
language = "English",
series = "Proceedings 2018 Chinese Automation Congress, CAC 2018",
publisher = "Institute of Electrical and Electronics Engineers",
pages = "1009--1013",
booktitle = "Proceedings 2018 Chinese Automation Congress, CAC 2018",
address = "United States",
note = "2018 Chinese Automation Congress, CAC 2018 ; Conference date: 30-11-2018 Through 02-12-2018",
}