Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments. (August 2019)

• Record Type: Journal Article
• Authors: Guerrero, J.; Torres, J.; Creuze, V.; Chemori, A.; Campos, E.
• Is Part Of: Mechatronics. Volume 61(2019)
• Page Start: 96
• Page End: 105
• Publication Date: 2019-08
• Subjects: Underwater vehicle -- Non-linear PID control -- Trajectory tracking -- Real-time experiments; 00-01 -- 99-00; 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.2019.06.006
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: During sea missions, underwater vehicles are often exposed to changes in the parameters of their control systems and subject to external disturbances due to the influences of ocean currents. These issues make the design of a robust controller quite a challenging task. This paper focuses on the design of a nonlinear PID controller, based on a set of saturation functions for trajectory tracking on an underwater vehicle. The main feature of the proposed control law is that it preserves the advantages of robust control and remains easy to fine-tune in real applications. Using the Lyapunov concept, we prove the asymptotic stability of the closed-loop tracking system. The effectiveness and robustness of our proposed controller for trajectory tracking in depth and yaw dynamics is demonstrated through real-time experiments.