System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

Ulrich Behrje; Ammar Amory; Benjamin Meyer; Erik Maehle

System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

Ulrich Behrje, Ammar Amory, Benjamin Meyer, Erik Maehle

Institut für Technische Informatik

Institute of Computer Engineering

Abstract

This paper presents an approach of system identification of the autonomous underwater vehicle (AUV) SEMBIO leading to a sliding mode depth controller for precise underwater movements. A dynamic model has been derived, including static nonlinearities induced by the brushless motors of the thrusters. This leads to advantages in comparison to common PID controllers eliminating effects of non-rotating thrusters due to small computed control variables. Different experiments under realistic conditions and resulting behaviors proving this statement are presented.

Originalsprache	Englisch
Titel	50th International Symposium on Robotics, ISR 2018
Seitenumfang	8
Herausgeber (Verlag)	VDE Verlag GmbH
Erscheinungsdatum	01.06.2018
Seiten	344-351
ISBN (Print)	978-151087031-4
Publikationsstatus	Veröffentlicht - 01.06.2018
Veranstaltung	50th International Symposium on Robotics - Messe Munchen East Entrance , München, Deutschland Dauer: 20.06.2018 → 21.06.2018 Konferenznummer: 142831

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abstract = "This paper presents an approach of system identification of the autonomous underwater vehicle (AUV) SEMBIO leading to a sliding mode depth controller for precise underwater movements. A dynamic model has been derived, including static nonlinearities induced by the brushless motors of the thrusters. This leads to advantages in comparison to common PID controllers eliminating effects of non-rotating thrusters due to small computed control variables. Different experiments under realistic conditions and resulting behaviors proving this statement are presented.",

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AB - This paper presents an approach of system identification of the autonomous underwater vehicle (AUV) SEMBIO leading to a sliding mode depth controller for precise underwater movements. A dynamic model has been derived, including static nonlinearities induced by the brushless motors of the thrusters. This leads to advantages in comparison to common PID controllers eliminating effects of non-rotating thrusters due to small computed control variables. Different experiments under realistic conditions and resulting behaviors proving this statement are presented.

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ER -

System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

Abstract

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