A Modeling and Control approach for a cubic AUV

Benoit Clement (1, 2) , Yang Rui (3) , Ali Mansour (4, 5) , Li Ming (3)

1 Lab-STICC_ENSTAB_CID_PRASYS
2 Pôle STIC_OSM
3 OUC - Ocean University of China
4 Lab-STICC_ENSTAB_CACS_COM
5 Pôle STIC_IDM

This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H infinity theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.

Mots clés: Robust Control; modelling; application; AUV

Domaines: Automatique / Robotique

Benoit Clement, Yang Rui, Ali Mansour, Li Ming. A Modeling and Control approach for a cubic AUV. 10th IFAC Conference on Control Applications in Marine Systems, Sep 2016, Tronheim, Norway. pp.279 - 284, ⟨10.1016/j.ifacol.2016.10.355⟩. ⟨hal-01368466⟩