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

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.

Original language	English
Title of host publication	50th International Symposium on Robotics, ISR 2018
Number of pages	8
Publisher	VDE Verlag GmbH
Publication date	01.06.2018
Pages	344-351
ISBN (Print)	978-151087031-4
Publication status	Published - 01.06.2018
Event	50th International Symposium on Robotics - Messe Munchen East Entrance , München, Germany Duration: 20.06.2018 → 21.06.2018 Conference number: 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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System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

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