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http://dx.doi.org/10.1016/j.ijnaoe.2018.04.002

A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV  

Campos, E. (CONACYT-Universidad del Istmo)
Monroy, J. (Universidad Politecnica de Tulancingo)
Abundis, H. (CONACYT-Universidad del Istmo)
Chemori, A. (LIRMM, CNRS-Universite de Montpellier 2)
Creuze, V. (LIRMM, CNRS-Universite de Montpellier 2)
Torres, J. (Automatic Control Department, CINVESTAV, CDMX)
Publication Information
International Journal of Naval Architecture and Ocean Engineering / v.11, no.1, 2019 , pp. 211-224 More about this Journal
Abstract
This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.
Keywords
AUV; Nonlinear PD and PD+ controllers; Real-time experiments;
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