Abstract
Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to the extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and the time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The
experimental results show that, the proposed control method provides signicantly better performance than the conventional PID in the presence of extreme disturbances.
experimental results show that, the proposed control method provides signicantly better performance than the conventional PID in the presence of extreme disturbances.
Original language | English |
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Title of host publication | IEEE International Conference on Robotics and Automation 2022 |
Publication status | Accepted/In press - 31 Jan 2022 |
Event | IEEE International Conference on Robotics and Automation 2022 - Pennsylvania Convention Center, Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 https://www.icra2022.org/ |
Conference
Conference | IEEE International Conference on Robotics and Automation 2022 |
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Abbreviated title | ICRA 2022 |
Country/Territory | United States |
City | Philadelphia |
Period | 23/05/22 → 27/05/22 |
Internet address |