This paper deals with the motion control problem for an UV (Underwater Vehicle) prototype built at the University of Cagliari. The vehicle is equipped with a special propulsion system based on hydro-jets with variable section nozzles. To cope with the heavy uncertainties affecting the prototype dynamics, the observer-control system has been developed by means of the 2-SMC (Second-order Sliding-Mode Control) approach. Chattering is removed since the 2-SMC approach confines the high-frequency switching to the higher derivatives of the control variable. The UV velocity is estimated in real-time by means of a recently proposed variable-structure robust differentiator and the experimental results show that a fast and accurate response can be obtained under several operating conditions. The control system and the main implementation issues are discussed in some detail.The mild computational demand allows for the digital implementation on a low-cost platform. Experiments pointed out the good performance and robustness of the proposed controller and in particular the performance improvement with respect to a classical PID (Proportional plus Integrating plus Derivating) controller.
Output-feedback control of an underwater vehicle prototype theory and experiments.
Ausgangsrückführungsregelung des Prototyps eines Unterwasserfahrzeugs und deren experimentelle Untersuchung
IFAC Symposium, Robust Control Design, 4 ; 449-454
2003
6 Seiten, 8 Bilder, 11 Quellen
Conference paper
English
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