TY - GEN
T1 - Hardware-in-the-Loop Simulation Applied to AUV Control
AU - Bao, D.
AU - Yang, R.
AU - Ma, Y.
AU - Clement, B.
AU - Mansour, A.
AU - Hou, D.
AU - Li, M.
PY - 2019/1/24
Y1 - 2019/1/24
N2 - 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.
AB - 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.
KW - Autonomous underwater vehicle
KW - Hardware-in-the-Ioop
KW - modelling
KW - MOOS-IvP
KW - robust control
UR - http://www.scopus.com/inward/record.url?scp=85062773270&partnerID=8YFLogxK
U2 - 10.1109/CAC.2018.8623733
DO - 10.1109/CAC.2018.8623733
M3 - Conference contribution
AN - SCOPUS:85062773270
T3 - Proceedings 2018 Chinese Automation Congress, CAC 2018
SP - 1009
EP - 1013
BT - Proceedings 2018 Chinese Automation Congress, CAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Chinese Automation Congress, CAC 2018
Y2 - 30 November 2018 through 2 December 2018
ER -