Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation:

International Journal of Advanced Robotic Systems

Simon A.Watson¹ 

关键词: Autonomous Underwater Vehicles (AUVs);    PID Control;    Sliding Mode Control;   

DOI  :  10.5772/57334

学科分类：自动化工程

来源: InTech

【 摘 要 】

Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called ‘bounded PD’) are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV.

【 授权许可】

CC BY