Depth control for micro-autonomous underwater vehicles (μAUVs): Simulation and experimentation

Simon A. Watson; Peter N. Green

doi:10.5772/57334

Depth control for micro-autonomous underwater vehicles (μAUVs): Simulation and experimentation

Research output: Contribution to journal › Article › peer-review

Abstract

Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called 'bounded PD') are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV. © 2014 The Author(s).

Original language	English
Journal	International Journal of Advanced Robotic Systems
Volume	11
Issue number	31
DOIs	https://doi.org/10.5772/57334
Publication status	Published - 3 Mar 2014

Keywords

Autonomous Underwater Vehicles (AUVs)
PID Control
Sliding Mode Control

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title = "Depth control for micro-autonomous underwater vehicles (μAUVs): Simulation and experimentation",

abstract = "Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called 'bounded PD') are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV. {\textcopyright} 2014 The Author(s).",

keywords = "Autonomous Underwater Vehicles (AUVs), PID Control, Sliding Mode Control",

author = "Watson, {Simon A.} and Green, {Peter N.}",

note = "This work is supported by the EPSRC grant F/064578/1 on Actuated Acoustic Sensor Networks for Industrial Processes (AASN4IP). We would also like to thank our collaborators at the University of Oxford and our industrial partners.",

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AU - Watson, Simon A.

AU - Green, Peter N.

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Y1 - 2014/3/3

N2 - Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called 'bounded PD') are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV. © 2014 The Author(s).

AB - Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called 'bounded PD') are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV. © 2014 The Author(s).

KW - Autonomous Underwater Vehicles (AUVs)

KW - PID Control

KW - Sliding Mode Control

U2 - 10.5772/57334

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M3 - Article

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VL - 11

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

IS - 31

ER -

Depth control for micro-autonomous underwater vehicles (μAUVs): Simulation and experimentation

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Keywords

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