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

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

Eduardo Campos Mercado ^{1, 2, 3} Ahmed Chemori ⁴ Vincent Creuze ¹ Jorge Antonio Torres Munoz ⁵ Rogelio Lozano ^{2, 6}

1 ICAR - Image & Interaction

LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

2 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique

3 CINVESTAV-IPN - Departamento de Control Automático

4 DEXTER - Conception et commande de robots pour la manipulation

LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

5 IMAG - Institut d'Informatique et de Mathématiques Appliquées de Grenoble

6 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

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.

Keywords : Saturation Nonlinear PD and PD+ Controller Underwater vehicle Real-time experiments

Document type :

Journal articles

Domain :

Engineering Sciences [physics] / Automatic

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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, September 10, 2019 - 5:21:33 PM

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

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