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

Institute of Computer Engineering

2 Citations (Scopus)

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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SDG 9 Industry, Innovation, and Infrastructure

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Cite this

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title = "System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO",

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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AU - Behrje, Ulrich

AU - Amory, Ammar

AU - Meyer, Benjamin

AU - Maehle, Erik

N1 - Conference code: 142831

PY - 2018/6/1

Y1 - 2018/6/1

N2 - 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.

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.

UR - https://www.scopus.com/pages/publications/85059429816

M3 - Conference contribution

SN - 978-151087031-4

SP - 344

EP - 351

BT - 50th International Symposium on Robotics, ISR 2018

PB - VDE Verlag GmbH

T2 - 50th International Symposium on Robotics

Y2 - 20 June 2018 through 21 June 2018

ER -

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

Abstract

UN SDGs

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