Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2016

Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions

Keijo Kuusmik
  • Function : Author
Taavi Salumae
  • Function : Author
Maarja Kruusmaa

Abstract

Control of underwater vehicles is a thoroughly investigated subject but still an open problem, because of the environmental disturbances, the highly nonlinear behaviour of vehicles, the complexity of the vehicle hydrodynamics, etc. In this paper, we are interested in depth control of a bioinspired U-CAT underwater AUV in real operating conditions. Two depth control schemes are proposed, including a PID controller and a nonlinear RISE feedback controller. The proposed controllers are implemented on the robot, then tested in an open water environment. The obtained results are presented and discussed through different experimental scenarios to illustrate the efficiency of the proposed controllers, not only to successfully control the depth, but also to be robust towards external disturbances and parameters uncertainties. we conclude that RISE controller is more robust towards environmental disturbances and outperforms the PID controller when the robot is tested in real operating condition.

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Dates and versions

lirmm-01343321 , version 1 (09-09-2019)

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Ahmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja Kruusmaa. Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755, ⟨10.1109/ICRA.2016.7487677⟩. ⟨lirmm-01343321⟩
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