Depth control of an underwater vehicle using robust PD controller: real-time experiments

The design of a robust controller for tracking a depth trajectory of an underwater vehicle in presence of unknown perturbations and uncertainties in the physical parameters of the model is presented in this work. The submarine robot used has properties that were analyzed for the development of the d...

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Bibliographic Details
Main Authors: Suarez, Angel E. Zamora, Magallanes, Adrian Manzanilla, Rangel, Miguel Angel Garcia, Leal, Rogelio Lozano, Cruz, Sergio Salazar, Palacios, Filiberto Munoz
Format: Conference Proceeding
Language:English
Subjects:
External Perturbation
Mathematical model
PD control
Real-time systems
Robust control
Task analysis
Underwater Vehicle
Underwater vehicles
Vehicle dynamics
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Summary:The design of a robust controller for tracking a depth trajectory of an underwater vehicle in presence of unknown perturbations and uncertainties in the physical parameters of the model is presented in this work. The submarine robot used has properties that were analyzed for the development of the dynamic model and the controller. The control strategy developed is based on a PD controller and a second order filter, which adds robustness to the closed loop system. The control strategy has been successfully tested in real-time experiments, and comparisons with respect to a classic PD controller shown that the controller designed presents superior performance.
ISSN:2377-6536
DOI:10.1109/AUV.2018.8729783