MITIGATION OF THE SATURATION EFFECT IN AUV PATH FOLLOWING APPLICATIONS

Juan Luis Rosendo (1, 2, 3) , Fabricio Garelli (3) , Benoit Clement (1, 2) , Hernan de Hernan (3)

1 STIC - Département STIC [Brest]
2 Lab-STICC_ENSTAB_CID_PRASYS ; OSM
3 UNLP - Universidad Nacional de la Plata [Argentine]

The path following duties have huge importance in mobile robotics applications, especially in submarine environments where autonomous underwater vehicles (AUV) are employed. In this paper a method based on sliding mode technique is presented. The objective is to follow a prescribed path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators. In addition, this method is compared with a traditional path following implementation resulting in an improvement of the path tracking time.

Mots clés: Sliding mode; Robotics; AUV; Path following; Actuator constraints.

Domaines: Automatique / Robotique

Juan Luis Rosendo, Fabricio Garelli, Benoit Clement, Hernan de Hernan. MITIGATION OF THE SATURATION EFFECT IN AUV PATH FOLLOWING APPLICATIONS. 25o Congreso Argentino de Control Automático, Nov 2016, Buenos Aires, Argentina. ⟨hal-01391615⟩