@article {246,
	title = {Experimental validation of constraint mitigation algorithm in underwater robot depth control},
	journal = {Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering},
	year = {2018},
	month = {08/2018},
	abstract = {<p>This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.</p>
},
	doi = {10.1177/0959651818791399},
	author = {Rosendo, Juan L. and Clement, Benoit and Garelli, Fabricio}
}
