Abstract : 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.
https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01368466
Contributeur : Benoit Clement <>
Soumis le : lundi 6 novembre 2017 - 15:22:39 Dernière modification le : jeudi 25 février 2021 - 16:04:01
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⟩