Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2022

Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments

Lotfi Chikh
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Sifan Wang
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Abstract

This paper deals with L 1 adaptive control of a novel omnidirectional underwater vehicle called MEROS. To the best of our knowledge, this is the first study of depth and attitude (i.e. φ, θ, and ψ) tracking control on an underwater vehicle. We experimentally prove the effectiveness of the proposed control approach by commanding in closed-loop simultaneously the four aforementioned degrees of freedom (DoFs). The dynamic model of MEROS is highly nonlinear with coupling effects between the different DoFs making its stabilization and tracking control more challenging than conventional ROVs (remotely operated vehicles). Therefore, the use of a robust controller becomes essential, and the proposed scheme allows to ensure robustness whilst fast adaptation is achieved. Real-time experiments are performed to show the effectiveness of the proposed control design.
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Dates and versions

lirmm-03818536 , version 1 (18-10-2022)

Identifiers

  • HAL Id : lirmm-03818536 , version 1

Cite

Lotfi Chikh, Ahmed Chemori, Sifan Wang. Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments. SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, IFAC, Oct 2022, Matsumoto, Japan. ⟨lirmm-03818536⟩
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