Abstract : Underwater competitions confirm that the PID yaw controller
is less efficient for low mass Autonomous Underwater Vehicle
(AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior,
waves, current, AUV bouyance change, motor calibration variations,
sensor disturbance and battery variations perturbate the PID
control behavior a lot. Therefore, in this paper we present a model based
robust controller to control the yaw heading of AUV CISCREA. The
modeling result was verified with experiments, and the robust controller
was simulated.
https://hal.archives-ouvertes.fr/hal-01119676
Contributeur : Annick Billon-Coat <>
Soumis le : lundi 23 février 2015 - 17:05:54 Dernière modification le : mercredi 24 juin 2020 - 16:19:23
Rui Yang, Irvin Probst, Ali Mansour, Li Ming, Benoit Clement. Underwater Vehicle Modeling and Control
Application to Ciscrea Robot. MOQESM'14, ENSTA Bretagne, Oct 2014, Brest, France. ⟨hal-01119676⟩