Robust control of an underactuated AUV

Wilson Turpo Zúñiga, Décio Crisol Donha, João L.Dozzi Dantas, Lucas Machado De Oliveira, Ettore A. De Barros

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Proceedings
EditorialIFAC Secretariat
Páginas138-143
Número de páginas6
EdiciónPART 1
ISBN (versión impresa)9783902823601
DOI
EstadoPublicada - 2012
Publicado de forma externa
Evento9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Arenzano, Italia
Duración: 19 set. 201221 set. 2012

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
NúmeroPART 1
Volumen9
ISSN (versión impresa)1474-6670

Conferencia

Conferencia9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012
País/TerritorioItalia
CiudadArenzano
Período19/09/1221/09/12

Nota bibliográfica

Funding Information:
⋆ This work is funded by the Brazilian Council, FAPESP, with research grant numbers: 2006/06685-1, 2009/10205-3 and 2010/08628-0.

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