Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments - Automatique, Systèmes Embarqués, Robotique Accéder directement au contenu
Article Dans Une Revue Mechatronics Année : 2017

Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

Résumé

This paper deals with two nonlinear controllers based on saturation functions with varying parameters, for set-point regulation and trajectory tracking on an Underwater Vehicle. The proposed controllers combine the advantages of robust control and easy tuning in real applications. The stability of the closed-loop system with the proposed nonlinear controllers is proven by Lyapunov arguments. Experimental results for the trajectory tracking control in 2 degrees of freedom, these are the depth and yaw motion of an underwater vehicle, show the performance of the proposed control strategy.
Fichier principal
Vignette du fichier
L2ROV_NLPD.pdf (3.91 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

lirmm-01567465 , version 1 (10-09-2019)

Identifiants

Citer

Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Muñoz, Rogelio Lozano. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments. Mechatronics, 2017, 45, pp.49-59. ⟨10.1016/j.mechatronics.2017.05.004⟩. ⟨lirmm-01567465⟩
281 Consultations
318 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More