Experimental validation of constraint mitigation algorithm in underwater robot depth control

dc.creatorRosendo, Juan Luis
dc.creatorBenoit, Clement
dc.creatorGarelli, Fabricio
dc.date.accessioned2021-04-08T16:58:39Z
dc.date.accessioned2022-10-15T15:55:43Z
dc.date.available2021-04-08T16:58:39Z
dc.date.available2022-10-15T15:55:43Z
dc.date.created2021-04-08T16:58:39Z
dc.date.issued2019-03
dc.identifierRosendo, Juan Luis; Benoit, Clement; Garelli, Fabricio; Experimental validation of constraint mitigation algorithm in underwater robot depth control; Professional Engineering Publishing Ltd; Proceedings of The Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering; 233; 3; 3-2019; 264-275
dc.identifier0959-6518
dc.identifierhttp://hdl.handle.net/11336/129641
dc.identifier2041-3041
dc.identifierCONICET Digital
dc.identifierCONICET
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/4405724
dc.description.abstractThis work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.
dc.languageeng
dc.publisherProfessional Engineering Publishing Ltd
dc.relationinfo:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1177/0959651818791399
dc.relationinfo:eu-repo/semantics/altIdentifier/url/https://journals.sagepub.com/doi/10.1177/0959651818791399
dc.rightshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subjectACTUATOR CONSTRAINTS
dc.subjectAUTONOMOUS UNDERWATER VEHICLE
dc.subjectMODELING
dc.subjectSLIDING MODE CONTROL
dc.titleExperimental validation of constraint mitigation algorithm in underwater robot depth control
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:ar-repo/semantics/artículo
dc.typeinfo:eu-repo/semantics/publishedVersion


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