An adaptive controller for autonomous underwater vehicles

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

doi:10.1109/IROS.2015.7353590

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 proceeding › Conference contribution

28 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 language	English
Title of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Publisher	IEEE
Pages	1658-1663
Number of pages	6
ISBN (Print)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353590
Publication status	Published - 11 Dec 2015
Event	28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015

Publication series

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

Conference

Conference	28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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

Access to Document

10.1109/IROS.2015.7353590

Cite this

Barbalata, C., De Carolis, V., Dunnigan, M. W., Pétillot, Y., & Lane, D. (2015). An adaptive controller for autonomous underwater vehicles. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 (pp. 1658-1663). Article 7353590 (Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.). IEEE. https://doi.org/10.1109/IROS.2015.7353590

@inproceedings{6a72db10d625485ca082364e532fb2f3,

title = "An adaptive controller for autonomous underwater vehicles",

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.",

keywords = "Adaptation models, Adaptive systems, Force, Tuning, Underwater vehicles, Vehicle dynamics, Vehicles",

author = "Corina Barbalata and \{De Carolis\}, Valerio and Dunnigan, \{Mathew Walter\} and Yvan P{\'e}tillot and David Lane",

year = "2015",

month = dec,

day = "11",

doi = "10.1109/IROS.2015.7353590",

language = "English",

isbn = "9781479999941",

series = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.",

publisher = "IEEE",

pages = "1658--1663",

booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015",

address = "United States",

note = "28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

}

Barbalata, C, De Carolis, V, Dunnigan, MW , Pétillot, Y & Lane, D 2015, An adaptive controller for autonomous underwater vehicles. in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015., 7353590, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems., IEEE, pp. 1658-1663, 28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353590

An adaptive controller for autonomous underwater vehicles. / Barbalata, Corina; De Carolis, Valerio; Dunnigan, Mathew Walter et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. IEEE, 2015. p. 1658-1663 7353590 (Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - An adaptive controller for autonomous underwater vehicles

AU - Barbalata, Corina

AU - De Carolis, Valerio

AU - Dunnigan, Mathew Walter

AU - Pétillot, Yvan

AU - Lane, David

PY - 2015/12/11

Y1 - 2015/12/11

N2 - 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.

AB - 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.

KW - Adaptation models

KW - Adaptive systems

KW - Force

KW - Tuning

KW - Underwater vehicles

KW - Vehicle dynamics

KW - Vehicles

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DO - 10.1109/IROS.2015.7353590

M3 - Conference contribution

AN - SCOPUS:84958157022

SN - 9781479999941

T3 - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

SP - 1658

EP - 1663

BT - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015

PB - IEEE

T2 - 28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

An adaptive controller for autonomous underwater vehicles

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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