Robust heading control and its application to Ciscrea Underwater Vehicle

R. Yang, B. Clement, A. Mansour, H. J. Li, M. Li

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

Abstract

Deep inside the ocean, the earth magnetic signal is one of the merely existing information that tells the heading of robots with very good cost efficiency. Therefore, this paper focuses on the AUV (Autonomous Underwater Vehicle) heading control problem using only one magnetic compass as feedback sensor. In this application, we address AUV modeling and control issues simultaneously. Because of quadratic damping factor, underwater vehicle hydrodynamic model is nonlinear. In addition, unmodeled dynamics, parameter variations and environmental disturbances create significant uncertainties between the nominal AUV model and the reality. Finally, sensor noise, signal delay as well as unmeasured states also affect the stability and control performance of AUV motions. In order to handle these issues with improved AUV observation quality and navigation ability, we propose a CFD (Computational Fluid Dynamics) model based H robust control scheme. Without loss of generality, the robust heading controller was implemented and validated in the sea on low-mass and complex-shaped Ciscrea AUV. Simulation and sea experimental results of both PID (Proportional Integral Derivative) and robust heading controller are analysed.

Original languageEnglish
Title of host publicationMTS/IEEE OCEANS 2015 - Genova
Subtitle of host publicationDiscovering Sustainable Ocean Energy for a New World
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479987368
DOIs
Publication statusPublished - 21 Sep 2015
Externally publishedYes
EventMTS/IEEE OCEANS 2015 - Genova - Genova, Italy
Duration: 18 May 201521 May 2015

Publication series

NameMTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World

Conference

ConferenceMTS/IEEE OCEANS 2015 - Genova
Country/TerritoryItaly
CityGenova
Period18/05/1521/05/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

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