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

During sea missions, underwater vehicles are often exposed to changes in the parameters of their control systems and subject to external disturbances due to the influences of ocean currents. These issues make the design of a robust controller quite a challenging task. This paper focuses on the desig...

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Bibliographic Details
Published inMechatronics (Oxford) Vol. 61; pp. 96 - 105
Main Authors Guerrero, J., Torres, J., Creuze, V., Chemori, A., Campos, E.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.08.2019
Elsevier
Subjects
Automatic
Engineering Sciences
Non-linear PID control
Real-time experiments
Trajectory tracking
Underwater vehicle
99-00
Underwater vehicle
Non-linear PID control
Trajectory tracking
00-01
Real-time experiments
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Summary:During sea missions, underwater vehicles are often exposed to changes in the parameters of their control systems and subject to external disturbances due to the influences of ocean currents. These issues make the design of a robust controller quite a challenging task. This paper focuses on the design of a nonlinear PID controller, based on a set of saturation functions for trajectory tracking on an underwater vehicle. The main feature of the proposed control law is that it preserves the advantages of robust control and remains easy to fine-tune in real applications. Using the Lyapunov concept, we prove the asymptotic stability of the closed-loop tracking system. The effectiveness and robustness of our proposed controller for trajectory tracking in depth and yaw dynamics is demonstrated through real-time experiments.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2019.06.006