L1 Adaptative control for small underwater vehicles

Divine Maalouf 1 Ahmed Chemori 2 Vincent Creuze 3
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Small underwater vehicles are subject to many disturbances and modelling uncertainties. To overcome these problems, we have introduced a L1 nonlinear adaptive controller for the first time onboard an tethered underwater vehicle. This adaptive controller allows fast convergence of the estimated parameters of the dynamic model even without any a priori knowledge of their values. It is robust to parameters' change, such as salinity or payload changes. It appears that this controller also rejects disturbances (mechanical shock, waves...) We will detail the theoretical aspects of the said controller and will present the experimental results, obtained with an AC-ROV prototype.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00744717
Contributor : Vincent Creuze <>
Submitted on : Tuesday, October 23, 2012 - 4:41:06 PM
Last modification on : Friday, July 13, 2018 - 5:02:01 PM
Long-term archiving on : Thursday, January 24, 2013 - 3:43:11 AM

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  • HAL Id : lirmm-00744717, version 1

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Divine Maalouf, Ahmed Chemori, Vincent Creuze. L1 Adaptative control for small underwater vehicles. ICOURS'12 : International Conference on Underwater Remote Sensing, Oct 2012, Brest, France. ⟨lirmm-00744717⟩

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