Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation
{"title":"Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation","authors":"S. Martin, L. Whitcomb","doi":"10.1109/OCEANS.2012.6404842","DOIUrl":null,"url":null,"abstract":"This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) 3-degree-of-freedom (3-DOF) controller and one model-based 3-DOF controller designed to enable an underactuated underwater vehicle to perform exact X-Y position and velocity tracking. We report a comparative experimental evaluation of the two controllers in free motion experiments. We conclude that the model-based controller's mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers.","PeriodicalId":434023,"journal":{"name":"2012 Oceans","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 Oceans","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.2012.6404842","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) 3-degree-of-freedom (3-DOF) controller and one model-based 3-DOF controller designed to enable an underactuated underwater vehicle to perform exact X-Y position and velocity tracking. We report a comparative experimental evaluation of the two controllers in free motion experiments. We conclude that the model-based controller's mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers.