Advertisement

Autonomous Robots

, Volume 3, Issue 2–3, pp 195–212 | Cite as

Experimental comparison of PID vs. PID plus nonlinear controller for subsea robots

  • M. Perrier
  • C. Canudas-De-Wit
Article

Abstract

This paper presents a new approach for designing simple nonlinear robust controllers for underwater vehicles. The paper presents several in-water experiments performed on the VORTEX vehicle developed by IFREMER. We first introduce some general modeling considerations of underwater vehicles, then we present the VORTEX dynamic model and some of the special features of the VORTEX vehicle that are important for control. Among these, low sampling rates for sensor and actuator nonlinearities are considered. The main aim of this paper is to experimentally investigate the benefits of adding an easy-to-tune nonlinear control loop to the actual linear compensator in order to improve the stability and the disturbance rejection properties of the closed-loop system. The advantage of this method is two-fold. First the additional nonlinear loop does not modify the original linear (PID) regulator. Second the design of this additional loop does not rely on the system model and is simple to tune. The results presented in this paper were obtained using the VORTEX vehicle both in simulation and during real experiments; they demonstrate the advantages of using a PID with this nonlinear loop over a simple PID control.

Keywords

subsea robot subsea robot modeling robust control for subsea robot nonlinear control autonomous underwater task 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Canudas-de-Wit, C., Williamson, D., and Bachmayer, R. 1993. Performance oriented robust control for a class of mechanical systems: A study case. In Proceedings of International Conference on Systems, Man and Cybernetics, Le Touquet, France.Google Scholar
  2. Conter, Q., Longhi, S., and Tirabassi, C. 1989. Dynamic model and self-tuning control of an underwater vehicle. In Proceeding of International Conference on Offshore Mechanics and Arctic Engineering, La Hague, France.Google Scholar
  3. Coste-Maniere, E., Perrier, M., and Peuch, A. 1995. Mission programming of underwater robots. In Proceeding of International Symposium on Experimental Robotics, San Diego, USA.Google Scholar
  4. Feldman, J. 1979. DTNSRDC revised standard submarine equation of motion. In DTNSRDC/SPC-0303-09.Google Scholar
  5. Fossen, T.I. and Foss, B.A. 1991. Sliding control of MIMO nonlinear systems. Proceedings of the 1991 European Control Conference, Grenoble, France.Google Scholar
  6. Fossen, T.I. 1993. Nonlinear Modeling and Control of Underwater Vehicles. Ph.D. Thesis, University of Trondheim, Norway.Google Scholar
  7. Fossen, T.I. 1994. Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd.Google Scholar
  8. Healey, A. and Lienard, D. 1993. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. In IEEE Journal of Oceanic Engineering, OE-18.Google Scholar
  9. Moyland, P.J. and Anderson, B.D.O. 1973. Nonlinear regulation theory and an inverse optimal control problem. IEEE Trans. on Aut. Control, AC-18(5):460–465.Google Scholar
  10. Perrier, M., Rigaud, V., Canudas-de-Wit, C., and Bachmayer, R. 1994. Performance-oriented robust nonlinear control for subsea robots. In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, USA.Google Scholar
  11. Ramadorai, A. and Tarn, T. 1992. On modeling and adaptive control of underwater robots. In Proceedings of International Advanced Robotics Workshop, Gene, Italy.Google Scholar
  12. Rigaud, V., Perrier, M. et al. 1993. VORTEX: Versatile and open subsea robot for technical experiment. In Proceeding of OCEANS'93, Victoria, Canada.Google Scholar
  13. Rives, P., Pissard-Gibollet, R., and Kapellos, K. 1993. Development of a reactive mobile robot using real-time vision. In Proceeding of the Third International Symposium on Experimental Robotics, Kyoto, Japan.Google Scholar
  14. Sagatun, S.I. and Fossen, T.I. 1991. Lagrangian formulation of underwater vehicles dynamics. In Proceeding of IEEE International Conference on Systems, Man and Cybernetics, USA.Google Scholar
  15. Sandor, J. and Williamson, D. 1977. Design of nonlinear regulators for linear plant. IEEE Trans. on Aut. Control, pp. 47–50.Google Scholar
  16. Williamson, D. and Canudas-de-Wit, C. 1995. Performance oriented robust control for a class of nonlinear systems. Proceeding of the European Control Conference, Roma Italy.Google Scholar
  17. Yoerger, D.R. and Slotine, J.J. 1985. Robust trajectory of underwater vehicle. In IEEE Oceanic Engineering, OE-11(3):392–400.Google Scholar

Copyright information

© Kluwer Academic Publishers 1996

Authors and Affiliations

  • M. Perrier
    • 1
  • C. Canudas-De-Wit
    • 2
  1. 1.IFREMER, Subsea Robotics and Artificial Intelligence Laboratory, Centre de Toulon-Zone de BrégaillonLa Seyne-sur-MerFrance
  2. 2.Laboratoire d'Automatique de Grenoble, URA CNRS 228, ENSIEG-INPGGrenobleFrance

Personalised recommendations