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 |
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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 |