%0 Conference Proceedings
%T A Modeling and Control approach for a cubic AUV
%+ Lab-STICC_ENSTAB_CID_PRASYS
%+ Pôle STIC_OSM
%+ Ocean University of China (OUC)
%+ Lab-STICC_ENSTAB_CACS_COM
%+ Pôle STIC_IDM
%A Clement, Benoit
%A Rui, Yang
%A Mansour, Ali
%A Ming, Li
%< avec comité de lecture
%B 10th IFAC Conference on Control Applications in Marine Systems
%C Tronheim, Norway
%3 10th IFAC Conference on Control Applications in Marine Systems CAMS 2016
%V 49
%N 23
%P 279 - 284
%8 2016-09-14
%D 2016
%R 10.1016/j.ifacol.2016.10.355
%K AUV
%K Robust Control
%K modelling
%K application
%Z Engineering Sciences [physics]/AutomaticConference papers
%X 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.
%G English
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01368466/document
%2 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01368466/file/auv_control.pdf
%L hal-01368466
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01368466
%~ ENSTA-BRETAGNE
%~ UNIV-BREST
%~ TDS-MACS
%~ LAB-STICC
%~ ENIB
%~ ENSTA-BRETAGNE-STIC
%~ UNIV-UBS
%~ CNRS
%~ INSTITUT-TELECOM
%~ INSTITUTS-TELECOM