A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2012

A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle

Résumé

This paper presents the design and experimental implementation of an L1 adaptive control on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is proposed to be applied for the first time in the field of underwater vehicles control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV underwater vehicle. Various experimental scenarios are presented to illustrate the ability of the L1adaptive law not only to successfully control pitch and depth (even with strong modeling uncertainties), but also to be e cient towards disturbances like waves or buoyancy changes.
Fichier principal
Vignette du fichier
L1iros.pdf (686.61 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00746494 , version 1 (29-10-2012)

Identifiants

Citer

Divine Maalouf, Vincent Creuze, Ahmed Chemori. A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle. IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura-Algrave, Portugal. pp.76-81, ⟨10.1109/IROS.2012.6385498⟩. ⟨hal-00746494⟩
258 Consultations
512 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More