 |
HAL-LIRMM - Open Archive |  |
Journal articles
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.
Cited literature [21 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01567465
Contributor : Vincent Creuze <>
Submitted on : Tuesday, September 10, 2019 - 4:08:33 PM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Saturday, February 8, 2020 - 12:01:56 AM
Contributor : Vincent Creuze <>
Submitted on : Tuesday, September 10, 2019 - 4:08:33 PM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Saturday, February 8, 2020 - 12:01:56 AM
File
L2ROV_NLPD.pdf
Files produced by the author(s)
