TY - GEN
T1 - Tracking trajectory for an autonomous underwater vehicle
T2 - 3rd IEEE Colombian Conference on Automatic Control, CCAC 2017
AU - Imba, Dario
AU - Escobar, Pablo
AU - Leica, Paulo
AU - Camacho, Oscar
AU - Chavez, Danilo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This article presents the design, simulation and comparison between two controllers, each based on the PID and sliding mode control (SMC) strategies, of an AUV that is tracking a square trajectory while maritime disturbances and mass addition are present. For this purpose, a cascade loop controller was implemented. Inside this loop, an external controller computed the references to an internal controller which control laws were directly applied to the entire non-linear model. This work designs two different internal controllers based on the strategies mentioned above and relying on the dynamic model of the AUV. In addition, these controllers share the same external controller which is a non-linear PID relying on the cinematic model. In order to measure the performance of each controller, the results were quantified by using Error Indexes. Also, a robustness test was implemented. Advantages and disadvantages about using these controllers were briefly discussed. It revealed a better error correction when the robust controller was used.
AB - This article presents the design, simulation and comparison between two controllers, each based on the PID and sliding mode control (SMC) strategies, of an AUV that is tracking a square trajectory while maritime disturbances and mass addition are present. For this purpose, a cascade loop controller was implemented. Inside this loop, an external controller computed the references to an internal controller which control laws were directly applied to the entire non-linear model. This work designs two different internal controllers based on the strategies mentioned above and relying on the dynamic model of the AUV. In addition, these controllers share the same external controller which is a non-linear PID relying on the cinematic model. In order to measure the performance of each controller, the results were quantified by using Error Indexes. Also, a robustness test was implemented. Advantages and disadvantages about using these controllers were briefly discussed. It revealed a better error correction when the robust controller was used.
KW - AUV
KW - Non-linear control
KW - PID
KW - Sliding Mode Control
KW - maritime disturbances
UR - https://www.scopus.com/pages/publications/85047426487
U2 - 10.1109/CCAC.2017.8276429
DO - 10.1109/CCAC.2017.8276429
M3 - Contribución a la conferencia
AN - SCOPUS:85047426487
T3 - 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
SP - 1
EP - 6
BT - 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
A2 - Patino, Diego
A2 - Yime, Eugenio
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 October 2017 through 20 October 2017
ER -