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From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles

Auwal Tijjani Shehu 1 Ahmed Chemori 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This chapter investigates the performances of different control schemes, from non-model-based (proportional-integral-derivative control, PID) to model-based (com-puted torque control, CT) as well as adaptive model-based (adaptive proportional-derivative plus control, APD+), implemented on a low-inertia underwater vehicle for three-dimensional (3D) helical trajectory tracking. Then, the asymptotic stability of the resulting closed-loop dynamics for each control scheme is proven based on the Lyapunov direct method. The performances of the control schemes, implemented on the Leonard underwater vehicle for 3D helical trajectory tracking, are then demonstrated through scenarios-based numerical simulations. The proposed simulations are conducted under the influences of the vehicle's buoyancy and damping changes, para-metric variations; sensor noise, internal vehicle's perturbations; and water current, external disturbances rejection. Moreover, we demonstrate the task of transporting an object by the vehicle during underwater missions. The obtained simulation results show the effectiveness and robustness of the APD+ control scheme for tracking control of the low-inertia underwater vehicle in marine applications, outperforming the other controllers.
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Contributor : Ahmed Chemori <>
Submitted on : Tuesday, November 17, 2020 - 2:26:18 PM
Last modification on : Friday, May 28, 2021 - 4:15:34 PM
Long-term archiving on: : Thursday, February 18, 2021 - 7:33:08 PM


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  • HAL Id : lirmm-03009836, version 1



Auwal Tijjani Shehu, Ahmed Chemori. From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles. George M. Roman. Underwater Vehicles: Design and Applications, Chapter 2, 2020, 978-1-53618-876-9. ⟨lirmm-03009836⟩



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