An adaptive controller for autonomous underwater vehicles

Corina Barbalata, Valerio De Carolis, Mathew Walter Dunnigan, Yvan Pétillot, David Lane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This paper introduces an adaptive tuning method for the controllers of a 4 degrees-of-freedom autonomous underwater vehicle. The proposed scheme consists of two control loops, one for position control and an inner one for velocity control. The gains of the controller are determined on-line, according to the position/velocity errors. Using the proposed adaptive architecture, the uncertainties in the parameters of the system are addressed and the system is able to operate when hydrodynamic disturbances are present. The complexity of the fixed gain tuning procedure is also greatly decreased for underwater vehicles when the algorithm suggested here is used. Experimental results with the Nessie VII AUV show that the adaptive controller is beneficial for underwater vehicles. Finally it is shown that the current approach reduces the energy consumption of the system.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
PublisherIEEE
Pages1658-1663
Number of pages6
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 11 Dec 2015
Event28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015

Publication series

NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.
PublisherIEEE
ISSN (Print)2153-0858

Conference

Conference28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15

Keywords

  • Adaptation models
  • Adaptive systems
  • Force
  • Tuning
  • Underwater vehicles
  • Vehicle dynamics
  • Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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