Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper - Archive ouverte HAL Access content directly
Journal Articles International Journal of Advanced Robotic Systems Year : 2015

Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper

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Abstract

This paper deals with an experimental comparison be‐ tween the proportional integral derivative (PID) control law and the adaptive nonlinear state feedback control, both applied on the AC-ROV underwater vehicle. The experi‐ mental results evaluate the closed-loop behaviour of the system under each controller in various operating condi‐ tions in order to compare how robust they are towards parameters' change and how they can reject external disturbances. It was concluded that the adaptive controller ensures a faster convergence and can adapt to a change of parameters as well as compensate for external disturban‐ ces. The PID needs to be retuned for every parameter change and is more sensitive to external disturbances.
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Dates and versions

lirmm-01119793 , version 1 (24-02-2015)

Licence

Attribution - CC BY 4.0

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Divine Maalouf, Vincent Creuze, Ahmed Chemori, Ivan Torres Tamanaja, Eduardo Campos Mercado, et al.. Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper. International Journal of Advanced Robotic Systems, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩. ⟨lirmm-01119793⟩
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