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.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00128024
Contributor : Lionel Lapierre <>
Submitted on : Tuesday, January 30, 2007 - 3:06:25 PM
Last modification on : Friday, June 7, 2019 - 2:00:02 PM

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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. ⟨lirmm-00128024⟩

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