Experimental validation of constraint mitigation algorithm in underwater robot depth control

Abstract

This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.

A global optimization approach for sliding mode tuning and existence maps generation

“…For the sake of brevity, the nominal model of the AUV was considered and just the environment torque τ env is considered as system disturbance. The ranges for speed and environment torque are consistent with the Ciscrea [38]. Particularly, note that the AUV speed is bounded by [−0.15, 0.15] m/s and the environment torque is limited to [−3, 3] Nm.…”

“…The model of the Ciscrea robot presented in Rosendo et al [38], reduced to the heave direction, is used. This model is based on the ideas presented in [39] using parameters borrowed from [17].…”

“…-M A : added mass, is a virtual concept representing the hydrodynamic forces that any accelerating emergedobject would encounter due to the inertia of the fluid. For more details about the mathematical model and numerical values used, refer to Rosendo et al [38] where this model has been developed and experimentally tested.…”

Técnicas robustas para el control automático de sistemas robóticos móviles

“…El trabajo desarrollado en este capítulo ha llevado a la presentación de tres trabajos de conferencia [46] (con su publicación en IFAC-Papers-OnLine), [47], [48] y una publicación de revista [49].…”