Experimental validation of constraint mitigation algorithm in underwater robot depth control
Título | Experimental validation of constraint mitigation algorithm in underwater robot depth control |
Tipo de Publicación | Journal Article |
Año de Publicación | 2018 |
Autores | Rosendo JL, Clement B, Garelli F |
Journal | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering |
Fecha de publicación | 08/2018 |
Resumen | 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. |
DOI | 10.1177/0959651818791399 |
Líneas de investigación:
Control de Sistemas Autónomos
Control of autonomous systems
Control and coordination of robotic systems
Control y coordinación de sistemas robóticos