Robust control of an underactuated AUV

Juan C. Cutipa-Luque; Décio Crisol Donha; João L. Dozzi Dantas; Lucas Machado de Oliveira; Ettore A. de Barros

doi:10.3182/20120919-3-IT-2046.00024

Robust control of an underactuated AUV

Juan C. Cutipa-Luque
, Décio Crisol Donha
, João L. Dozzi Dantas
, Lucas Machado de Oliveira
, Ettore A. de Barros

Naval Architecture, Ocean And Marine Engineering

Research output: Contribution to journal › Conference Contribution › peer-review

9 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	138-143
Number of pages	6
Journal	IFAC Proceedings Volumes
Volume	45
Issue number	27
DOIs	https://doi.org/10.3182/20120919-3-IT-2046.00024
Publication status	Published - 30 Sept 2012
Event	9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Arenzano, Italy Duration: 19 Sept 2012 → 21 Sept 2012

Funding

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

Keywords

H∞
robust control
underactuated AUV
autonomous underwater vehicle (AUV)
marine robotics

Access to Document

10.3182/20120919-3-IT-2046.00024

Cite this

@article{27550f851296465b8874fe491d71168f,

title = "Robust control of an underactuated AUV",

abstract = "This paper presents the experimental results obtained in the Unmanned Vehicles Laboratory (LVNT) of University of S{\~a}o 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.",

keywords = "H∞, robust control, underactuated AUV, autonomous underwater vehicle (AUV), marine robotics",

author = "Cutipa-Luque, \{Juan C.\} and Donha, \{D{\'e}cio Crisol\} and Dantas, \{Jo{\~a}o L. Dozzi\} and \{de Oliveira\}, \{Lucas Machado\} and \{de Barros\}, \{Ettore A.\}",

year = "2012",

month = sep,

day = "30",

doi = "10.3182/20120919-3-IT-2046.00024",

language = "English",

volume = "45",

pages = "138--143",

journal = "IFAC Proceedings Volumes",

issn = "1474-6670",

publisher = "Elsevier B.V.",

number = "27",

note = "9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 ; Conference date: 19-09-2012 Through 21-09-2012",

}

TY - JOUR

T1 - Robust control of an underactuated AUV

AU - Cutipa-Luque, Juan C.

AU - Donha, Décio Crisol

AU - Dantas, João L. Dozzi

AU - de Oliveira, Lucas Machado

AU - de Barros, Ettore A.

PY - 2012/9/30

Y1 - 2012/9/30

N2 - 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.

AB - 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.

KW - H∞

KW - robust control

KW - underactuated AUV

KW - autonomous underwater vehicle (AUV)

KW - marine robotics

UR - https://www.scopus.com/pages/publications/84900508636

U2 - 10.3182/20120919-3-IT-2046.00024

DO - 10.3182/20120919-3-IT-2046.00024

M3 - Conference Contribution

AN - SCOPUS:84900508636

SN - 1474-6670

VL - 45

SP - 138

EP - 143

JO - IFAC Proceedings Volumes

JF - IFAC Proceedings Volumes

IS - 27

T2 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

Y2 - 19 September 2012 through 21 September 2012

ER -

Robust control of an underactuated AUV

Abstract

Funding

Keywords

Access to Document

Other files and links

Fingerprint

Cite this