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

Ahmed Chemori 1 Keijo Kuusmik Taavi Salumae Maarja Kruusmaa
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. IEEE International Conference on Robotics and Automation, pp.4750-4755, 2016, 〈http://www.icra2016.org〉. 〈10.1109/ICRA.2016.7487677〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01343321
Contributeur : Isabelle Gouat <>
Soumis le : vendredi 8 juillet 2016 - 11:03:16
Dernière modification le : vendredi 13 juillet 2018 - 17:02:01

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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. IEEE International Conference on Robotics and Automation, pp.4750-4755, 2016, 〈http://www.icra2016.org〉. 〈10.1109/ICRA.2016.7487677〉. 〈lirmm-01343321〉

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