Open AccessReal-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles
Author(s) -
Divine Maalouf,
Vincent Creuze,
Ahmed Chemori,
Ivan Torres Tamanaja,
Eduardo Campos Mercado,
Jorge Torres Muñoz,
Rogelio Lozano,
Olivier Tempier
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/59185
Subject(s) - control theory (sociology) , pid controller , computer science , controller (irrigation) , nonlinear system , underwater , unmanned underwater vehicle , convergence (economics) , adaptive control , control (management) , control engineering , temperature control , artificial intelligence , engineering , agronomy , oceanography , physics , quantum mechanics , economic growth , economics , biology , geology
International audienceThis paper deals with an experimental comparison be‐ tween the proportional integral derivative (PID) control law and the adaptive nonlinear state feedback control, both applied on the AC-ROV underwater vehicle. The experi‐ mental results evaluate the closed-loop behaviour of the system under each controller in various operating condi‐ tions in order to compare how robust they are towards parameters' change and how they can reject external disturbances. It was concluded that the adaptive controller ensures a faster convergence and can adapt to a change of parameters as well as compensate for external disturban‐ ces. The PID needs to be retuned for every parameter change and is more sensitive to external disturbances
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