Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation

Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation

Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies f...

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Main Authors: Simon A. Watson, Peter N. Green
Format: Article
Language:English
Published: SAGE Publishing 2014-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/57334
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spelling doaj-5429202ca34b4989b693379d07282e462020-11-25T04:01:11ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-03-011110.5772/5733410.5772_57334Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and ExperimentationSimon A. Watson0Peter N. Green1 School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UKSwarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called ‘bounded PD’) are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV.https://doi.org/10.5772/57334
collection DOAJ
language English
format Article
sources DOAJ
author Simon A. Watson
Peter N. Green
spellingShingle Simon A. Watson
Peter N. Green
Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
International Journal of Advanced Robotic Systems
author_facet Simon A. Watson
Peter N. Green
author_sort Simon A. Watson
title Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
title_short Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
title_full Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
title_fullStr Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
title_full_unstemmed Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation
title_sort depth control for micro-autonomous underwater vehicles (μauvs): simulation and experimentation
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2014-03-01
description Swarms of micro-autonomous underwater vehicles (μAUVs) are an attractive solution to the problem of nuclear storage pond monitoring. Independent movement in the horizontal and vertical planes is necessary to maximize manoeuvrability. This paper presents a comparison of different control strategies for independent depth control using both simulations and real experimental results. PID, sliding mode and a simplification of sliding mode (called ‘bounded PD’) are simulated using a MATLAB/SIMULINK model and are then compared to experimental results obtained when the controllers were implemented on a prototype μAUV.
url https://doi.org/10.5772/57334
work_keys_str_mv AT simonawatson depthcontrolformicroautonomousunderwatervehiclesmauvssimulationandexperimentation
AT peterngreen depthcontrolformicroautonomousunderwatervehiclesmauvssimulationandexperimentation
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