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

Angel E.Zamora Suarez; Adrian Manzanilla Magallanes; Miguel Angel Garcia Rangel; Rogelio Lozano Leal; Sergio Salazar Cruz; Filiberto Munoz Palacios

doi:10.1109/AUV.2018.8729783

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

Angel E.Zamora Suarez, Adrian Manzanilla Magallanes, Miguel Angel Garcia Rangel, Rogelio Lozano Leal, Sergio Salazar Cruz, Filiberto Munoz Palacios

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781728102535
DOI	https://doi.org/10.1109/AUV.2018.8729783
Estado	Publicada - nov. 2018
Publicado de forma externa	Sí
Evento	2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018 - Porto, Portugal Duración: 6 nov. 2018 → 9 nov. 2018

Serie de la publicación

Nombre	AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings

Conferencia

Conferencia	2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018
País/Territorio	Portugal
Ciudad	Porto
Período	6/11/18 → 9/11/18

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10.1109/AUV.2018.8729783

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Suarez, A. E. Z., Magallanes, A. M., Rangel, M. A. G., Leal, R. L., Cruz, S. S., & Palacios, F. M. (2018). Depth control of an underwater vehicle using robust PD controller: Real-time experiments. En AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings Artículo 8729783 (AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AUV.2018.8729783

Suarez, Angel E.Zamora ; Magallanes, Adrian Manzanilla ; Rangel, Miguel Angel Garcia et al. / Depth control of an underwater vehicle using robust PD controller : Real-time experiments. AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. (AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings).

@inproceedings{1abe575325d441f882959d8dc254840a,

title = "Depth control of an underwater vehicle using robust PD controller: Real-time experiments",

abstract = "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.",

keywords = "External Perturbation, PD, Robust control, Underwater Vehicle",

author = "Suarez, {Angel E.Zamora} and Magallanes, {Adrian Manzanilla} and Rangel, {Miguel Angel Garcia} and Leal, {Rogelio Lozano} and Cruz, {Sergio Salazar} and Palacios, {Filiberto Munoz}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

year = "2018",

month = nov,

doi = "10.1109/AUV.2018.8729783",

language = "Ingl{\'e}s",

series = "AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings",

address = "Estados Unidos",

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Suarez, AEZ, Magallanes, AM, Rangel, MAG, Leal, RL, Cruz, SS & Palacios, FM 2018, Depth control of an underwater vehicle using robust PD controller: Real-time experiments. En AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings., 8729783, AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, Porto, Portugal, 6/11/18. https://doi.org/10.1109/AUV.2018.8729783

Depth control of an underwater vehicle using robust PD controller: Real-time experiments. / Suarez, Angel E.Zamora; Magallanes, Adrian Manzanilla; Rangel, Miguel Angel Garcia et al.
AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2018. 8729783 (AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AU - Palacios, Filiberto Munoz

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AB - 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.

KW - External Perturbation

KW - PD

KW - Robust control

KW - Underwater Vehicle

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Suarez AEZ, Magallanes AM, Rangel MAG, Leal RL, Cruz SS, Palacios FM. Depth control of an underwater vehicle using robust PD controller: Real-time experiments. En AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8729783. (AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings). doi: 10.1109/AUV.2018.8729783

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

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