Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments. (August 2017)

• Record Type: Journal Article
• Authors: Campos, E.; Chemori, A.; Creuze, V.; Torres, J.; Lozano, R.
• Is Part Of: Mechatronics. Volume 45(2017)
• Page Start: 49
• Page End: 59
• Publication Date: 2017-08
• Subjects: Underwater vehicle -- Nonlinear PD and PD+ controller -- Saturation -- Real-time experiments; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.05.004
• Languages: English
• ISSNs: 0957-4158

Abstract

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.