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A Modeling and Control approach for a cubic AUV
- Source :
- IFAC-PapersOnLine. 49:279-284
- Publication Year :
- 2016
- Publisher :
- Elsevier BV, 2016.
-
Abstract
- International audience; This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H infinity theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.
- Subjects :
- 0209 industrial biotechnology
Engineering
Heading (navigation)
business.industry
PID controller
Control engineering
02 engineering and technology
Kalman filter
Computational fluid dynamics
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Compensation (engineering)
modelling
Computer Science::Robotics
Nonlinear system
020901 industrial engineering & automation
H-infinity methods in control theory
Control and Systems Engineering
Control theory
Robust control
business
AUV
application
Robust Control
Subjects
Details
- ISSN :
- 24058963
- Volume :
- 49
- Database :
- OpenAIRE
- Journal :
- IFAC-PapersOnLine
- Accession number :
- edsair.doi.dedup.....dea2d94245154976e39b58b816b62fcc
- Full Text :
- https://doi.org/10.1016/j.ifacol.2016.10.355