On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles

In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriatenes...

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Bibliographic Details
Published in:IEEE journal of oceanic engineering 2007-04, Vol.32 (2), p.300-312
Main Author: Antonelli, G.
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive control systems
Autonomous underwater vehicles
Controllers
Gravitation
Integrals
Marine
Marine vehicles
Mathematical models
Ocean currents
Oceans
PD control
Pi control
Programmable control
Remotely operated vehicles
Steady state
Underwater vehicles
underwater vehicles control
Vehicle dynamics
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Summary:In this paper, the control of autonomous underwater vehicles (AUVs) in six-degrees-of-freedom (6-DOFs) is analyzed in a comparison study among several controllers. At steady state, the vehicle needs to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to the persistent effects is discussed. Moreover, for each controller, an adaptive/integral proportional derivative (PD) plus gravity compensation-like version is derived and eventually modified so as to achieve null steady-state error under modeling uncertainty and presence of ocean current. Numerical simulations are presented to better illustrate the controllers' behavior.
ISSN:0364-9059
1558-1691
DOI:10.1109/JOE.2007.893685