Robust control of a micro-autonomous underwater vehicle (μAUV) using low-tolerance components

Simon A. Watson, Peter N. Green

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper is concerned with the robust control of micro-autonomous underwater vehicles that have been constructed using low-tolerance components. Problems such as imbalanced, time varying thrust force and thruster misalignment have the effect of coupling individual degrees of freedom in an unwanted manner. The effects of these problems on the plant model used for controller design is discussed and the robust control strategy employed is detailed. Experimental results using a prototype vehicle are also presented.

Original languageEnglish
Title of host publicationIFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Pages7-12
Number of pages6
Volume3
EditionPART 1
Publication statusPublished - 1 Dec 2012
Event3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012 - Porto, Portugal
Duration: 10 Apr 201212 Apr 2012

Conference

Conference3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Country/TerritoryPortugal
CityPorto
Period10/04/1212/04/12

Keywords

  • Autonomous Mobile Robot
  • Modelling Errors
  • PD Controller
  • Robust Control

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