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Quantitative Monitoring of the Underwater Environment pp 89–106Cite as

Underwater Vehicle Modeling and Control Application to Ciscrea Robot

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Part of the book series: Ocean Engineering & Oceanography ((OEO,volume 6))

Abstract

Underwater competitions confirm that the PID yaw controller is less efficient for low mass Autonomous Underwater Vehicle (AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior, waves, current, AUV bouyance change, motor calibration variations, sensor disturbance and battery variations perturbate the PID control behavior a lot. Therefore, in this paper we present a model based robust controller to control the yaw heading of AUV CISCREA. The modeling result was verified with experiments, and the robust controller was simulated.

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Acknowledgments

The authors would like to express their great appreciation to the China Scholarship Council for their financial supports and to Prof. J. M. Laurens and F. Le Bars for their technical supports to complete this work successfully.

Author information

Authors and Affiliations

  1. College of Engineering, Ocean University of China, Qingdao, 266100, China

    Rui Yang & Ming Li

  2. ENSTA Bretagne, Brest Cedex 9, 29806, Brest, France

    Rui Yang, Irvin Probst, Ali Mansours & Benoit Clement

  3. Lab-STICC(UMR CNRS 6285), Technopole Brest Iroise, Brest Cedex 3, 29238, Brest, France

    Rui Yang, Ali Mansours & Benoit Clement

Authors
  1. Rui Yang
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  2. Irvin Probst
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  3. Ali Mansours
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  4. Ming Li
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  5. Benoit Clement
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Corresponding author

Correspondence to Benoit Clement .

Editor information

Editors and Affiliations

  1. Ocean Sensing and Mapping, Ensta Bretagne, Brest Cedex 09, France

    Benoît Zerr

  2. ENSTA Bretagne, Brest Cedex 9, France

    Luc Jaulin

  3. Robotic Department, University of Montpellier, Montpellier, France

    Vincent Creuze

  4. Ocean Sensing and Mapping, Ensta Bretagne, Brest Cedex 09, France

    Nathalie Debese

  5. Ocean Sensing and Mapping, Ensta Bretagne, Brest Cedex 09, France

    Isabelle Quidu

  6. Ocean Sensing and Mapping, Ensta Bretagne, Brest Cedex 09, France

    Benoît Clement

  7. Pôle STIC, ENSTA Bretagne, Brest Cedex 9, France

    Annick Billon-Coat

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Yang, R., Probst, I., Mansours, A., Li, M., Clement, B. (2016). Underwater Vehicle Modeling and Control Application to Ciscrea Robot. In: Zerr, B., et al. Quantitative Monitoring of the Underwater Environment. Ocean Engineering & Oceanography, vol 6. Springer, Cham. https://doi.org/10.1007/978-3-319-32107-3_9

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  • DOI: https://doi.org/10.1007/978-3-319-32107-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32105-9

  • Online ISBN: 978-3-319-32107-3

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