Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments
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 t...
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| Veröffentlicht in: | Mechatronics (Oxford) 2017-08, Vol.45, p.49-59 |
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| container_title | Mechatronics (Oxford) |
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| creator | Campos, E. Chemori, A. Creuze, V. Torres, J. Lozano, R. |
| description | 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. |
| doi_str_mv | 10.1016/j.mechatronics.2017.05.004 |
| format | Article |
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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. 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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.</description><subject>Automatic</subject><subject>Engineering Sciences</subject><subject>Nonlinear PD and PD+ controller</subject><subject>Real-time experiments</subject><subject>Saturation</subject><subject>Underwater vehicle</subject><issn>0957-4158</issn><issn>1873-4006</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><recordid>eNqNkE9rGzEQxUVJoI7b7yB6LbvV7H_1ZtykCRh6aHMWs9pZLCNrjSTb2W9fuQ4hx8LAzOH93mMeY19A5CCg-bbL96S3GP3kjA55IaDNRZ0LUX1gC-jaMquEaG7YQsi6zSqou4_sLoSdSEKAdsHm3xiPHqOZHO8x0MDd5KxxhJ4PdIhbjm7gM565nlyKsXwa-dEN5M8YyfMTbY22FPjZJG2I2Btr4pwotHMw4R_uCW0WzZ44vRzIp8PF8IndjmgDfX7dS_b8cP9n_Zhtfv18Wq82ma6giBmB6GTTjiU0BRWtlFL3gCBBygFwHDtNPYx9P5ZdV0hRQ9NqLBpZF10Hacol-3r13aJVhxSOflYTGvW42ihr_H6vBNRNWzX16aL-flVrP4XgaXxDQKhL5Wqn3leuLpUrUatUeYJ_XGFK_5wMeRW0IadpMJ50VMNk_sfmL9xTk54</recordid><startdate>201708</startdate><enddate>201708</enddate><creator>Campos, E.</creator><creator>Chemori, A.</creator><creator>Creuze, V.</creator><creator>Torres, J.</creator><creator>Lozano, R.</creator><general>Elsevier Ltd</general><general>Elsevier</general><scope>AAYXX</scope><scope>CITATION</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0001-8759-4515</orcidid><orcidid>https://orcid.org/0000-0001-9739-9473</orcidid><orcidid>https://orcid.org/0000-0002-6813-8562</orcidid><orcidid>https://orcid.org/0000-0002-5730-6313</orcidid></search><sort><creationdate>201708</creationdate><title>Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments</title><author>Campos, E. ; Chemori, A. ; Creuze, V. ; Torres, J. ; Lozano, R.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c412t-e108967f3162e27999cb1a19199d1aff8ceb1fbbf3882905167ca269528818813</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Automatic</topic><topic>Engineering Sciences</topic><topic>Nonlinear PD and PD+ controller</topic><topic>Real-time experiments</topic><topic>Saturation</topic><topic>Underwater vehicle</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Campos, E.</creatorcontrib><creatorcontrib>Chemori, A.</creatorcontrib><creatorcontrib>Creuze, V.</creatorcontrib><creatorcontrib>Torres, J.</creatorcontrib><creatorcontrib>Lozano, R.</creatorcontrib><collection>CrossRef</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection><jtitle>Mechatronics (Oxford)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Campos, E.</au><au>Chemori, A.</au><au>Creuze, V.</au><au>Torres, J.</au><au>Lozano, R.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments</atitle><jtitle>Mechatronics (Oxford)</jtitle><date>2017-08</date><risdate>2017</risdate><volume>45</volume><spage>49</spage><epage>59</epage><pages>49-59</pages><issn>0957-4158</issn><eissn>1873-4006</eissn><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. 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| ispartof | Mechatronics (Oxford), 2017-08, Vol.45, p.49-59 |
| issn | 0957-4158 1873-4006 |
| language | eng |
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| source | Elsevier ScienceDirect Journals |
| subjects | Automatic Engineering Sciences Nonlinear PD and PD+ controller Real-time experiments Saturation Underwater vehicle |
| title | Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments |
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