Underwater Vehicle Modeling and Control Application to Ciscrea Robot
Résumé
Underwater competitions confirm that the PID yaw controller
is less efficient for low mass Autonomous Underwater Vehicle
(AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior,
waves, current, AUV bouyance change, motor calibration variations,
sensor disturbance and battery variations perturbate the PID
control behavior a lot. Therefore, in this paper we present a model based
robust controller to control the yaw heading of AUV CISCREA. The
modeling result was verified with experiments, and the robust controller
was simulated.