Robust Diving Control of an AUV

Lionel Lapierre 1 Vincent Creuze 1 Bruno Jouvencel 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The difficulty of accurately modeling a mobile system traveling in a complex environment such the ocean means investigating new control solutions which guarantees robustness against parameter uncertainty. This paper proposes a diving-control design based on Lyapunov theory and backstepping techniques. Two different methods are proposed, based on an adaptive and on a switching scheme to meet robustness requirements. The results are formally shown, and simulations illustrate the performances of the solutions proposed.
Type de document :
Communication dans un congrès
MCMC'06: Manoeuver and Control of Marine Craft, 2006, Lisbon (Portugal), France. pp.6, 2006
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00128024
Contributeur : Lionel Lapierre <>
Soumis le : mardi 30 janvier 2007 - 15:06:25
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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  • HAL Id : lirmm-00128024, version 1

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Lionel Lapierre, Vincent Creuze, Bruno Jouvencel. Robust Diving Control of an AUV. MCMC'06: Manoeuver and Control of Marine Craft, 2006, Lisbon (Portugal), France. pp.6, 2006. 〈lirmm-00128024〉

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