期刊
MECHATRONICS
卷 45, 期 -, 页码 49-59出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2017.05.004
关键词
Underwater vehicle; Nonlinear PD and PD plus controller; Saturation; Real-time experiments
类别
资金
- PCP
- Tecnalia foundation
- Region Languedoc-Roussillon council (ARPE MiniROV)
- European Union through FEDER [49793]
This paper deals with two nonlinear controllers based on saturation functions with varying parameters, for set-point regulation and trajectory tracking on an Underwater Vehicle. The proposed controllers combine the advantages of robust control and easy tuning in real applications. The stability of the closed-loop system with the proposed nonlinear controllers is proven by Lyapunov arguments. Experimental results for the trajectory tracking control in 2 degrees of freedom, these are the depth and yaw motion of an underwater vehicle, show the performance of the proposed control strategy. (c) 2017 Elsevier Ltd. All rights reserved.
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