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

• Published in: Mechatronics (Oxford) Vol. 61; pp. 96 - 105
• Main Authors: Guerrero, J., Torres, J., Creuze, V., Chemori, A., Campos, E.
• Format: Journal Article
• Language: English
• 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

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...