Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2025

Experimental Validation of a Model-Free Controller on a One-Axis Float with Ballast

Résumé

A large proportion of underwater vehicles use a ballast or a bladder for depth control. This is notably the case for most gliders and a variety of drifters, buoys, and floats used in oceanography, marine biology, etc. Their regulation in depth usually requires good knowledge of their model and is subject to external disturbances. This work presents the application of Model-Free Control (MFC) to a one-axis float equipped only with a ballast and a depth sensor. MFC is well-suited for this application as it is completely model-oblivious and particularly robust to external disturbances. The two main contributions of this work are the first development of a third-order model-free controller and the experimental validation of the method on a fairly simple system with minimum actuation, the float with ballast. The main objective of this work is to put MFC on the map of control methods suited for marine applications and introduce this method to the community with a rather simple yet striking example.

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Dates et versions

hal-04989292 , version 1 (18-03-2025)

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  • HAL Id : hal-04989292 , version 1

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Loïck Degorre, Gabriel Betton, Emmanuel Delaleau, Riera Mathis, Luc Jaulin, et al.. Experimental Validation of a Model-Free Controller on a One-Axis Float with Ballast. 2025. ⟨hal-04989292⟩
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