Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

Abstract : This paper deals with two nonlinear controllers based on saturation functions with varying parameters, for set-point regulation and trajectory tracking on an Underwater Vehicle. The proposed controllers combine the advantages of robust control and easy tuning in real applications. The stability of the closed-loop system with the proposed nonlinear controllers is proven by Lyapunov arguments. Experimental results for the trajectory tracking control in 2 degrees of freedom, these are the depth and yaw motion of an underwater vehicle, show the performance of the proposed control strategy.
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Submitted on : Tuesday, September 10, 2019 - 4:08:33 PM
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Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Munoz, Rogelio Lozano. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments. Mechatronics, Elsevier, 2017, 45, pp.49-59. ⟨10.1016/j.mechatronics.2017.05.004⟩. ⟨lirmm-01567465⟩

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