This paper presents the experimental results obtained in the Unmanned Vehicles Laboratory (LVNT) of University of São Paulo working with the guidance and control of the underactuated Autonomous Underwater Vehicle (AUV) Pirajuba. In former works, in addition to the identification of a mathematical model, H∞ techniques were used to synthesize and simulate a controller for the vehicle, subjected to modelling uncertainties, disturbances and measurement noises. In this work, experimental results are presented to validate the proposed approaches. Moreover, a centralized multivariable controller is investigated, seeking to improve the performance of the vehicle in manoeuvres in six-degree-of-freedom. Results obtained ratify the good performance of the H∞ approach in complex control systems involving important nonlinearities and uncertainties.
|Title of host publication||9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Proceedings|
|Number of pages||6|
|State||Published - 2012|
|Event||9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Arenzano, Italy|
Duration: 19 Sep 2012 → 21 Sep 2012
|Name||IFAC Proceedings Volumes (IFAC-PapersOnline)|
|Conference||9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012|
|Period||19/09/12 → 21/09/12|
Bibliographical noteFunding Information:
⋆ This work is funded by the Brazilian Council, FAPESP, with research grant numbers: 2006/06685-1, 2009/10205-3 and 2010/08628-0.
- Robust Control
- Underactuated AUV