Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

Abstract

International audienceThis paper deals with two nonlinear controllers based on saturation functions with varying parameters, for set-point regulation and trajectory tracking on an Underwater Vehicle. The proposed controllers combine the advantages of robust control and easy tuning in real applications. The stability of the closed-loop system with the proposed nonlinear controllers is proven by Lyapunov arguments. Experimental results for the trajectory tracking control in 2 degrees of freedom, these are the depth and yaw motion of an underwater vehicle, show the performance of the proposed control strategy

Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments

“…In practical applications, it can be observed that a standard PID control design can be improved by bounding its signal [15]. Consequently, several nonlinear bounded PID controllers have been proposed.…”

“…Experimental results show that the VSPID with AW reduces the overshoot as well as the settling time compared to the nominal VSPID. Finally, inspired by the works of [19] and [20], a nonlinear PD and PD+ controllers for trajectory tracking on depth and yaw dynamics of an AUV has been proposed in [15]. In this work, the authors introduced a whole set of nonlinear functions to improve the PD controller.…”

“…Nevertheless, the proposed methodology requires computing the Ricatti equation online, which could be difficult. Finally, the introduction of saturation functions in the gains of the PD controller improves its performance, as one can see in the experimental results of work [15]. However, this methodology is not robust enough to encompass large and persistent parameter uncertainties.…”

“…Taking into account this drawback, in this paper, a nonlinear PID controller is proposed to overcome the shortcoming of the previous algorithm introduced in [15]. The main contributions of the actual work are summarized as follows:…”

A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

“…The nonlinear feedback gains concept of NLPID has been applied later to different experimental platforms showing better control performance compared to the static feedback gains theory. One can mention: a NLPID controller applied to a parallel robot (Su, Duan, & Zheng, 2004), an Augmented NLPD controller applied to a serial manipulator (Kelly & Carelli, 1996), a parallel robot (Shang, Cong, Li, & Jiang, 2009), and an underwater vehicle (Campos, Chemori, Creuze, Torres, & Lozano, 2017), and an extended Desired Compensation Adaptation Law (DCAL) applied to a parallel robot (Bennehar, Chemori, & Pierrot, 2016).…”