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

Ulrich Behrje, Ammar Amory, Benjamin Meyer, Erik Maehle


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.

Original languageEnglish
Title of host publication50th International Symposium on Robotics, ISR 2018
Number of pages8
PublisherVDE Verlag GmbH
Publication date01.06.2018
ISBN (Print)978-151087031-4
Publication statusPublished - 01.06.2018
Event50th International Symposium on Robotics - Messe Munchen East Entrance , München, Germany
Duration: 20.06.201821.06.2018
Conference number: 142831


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