Multivariable L1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments

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dc.contributor.authorChikh, L.
dc.contributor.authorChemori, A.
dc.contributor.authorWang, S.
dc.contributor.editorRincon-Ardilla, Liz
dc.contributor.institutionTecnalia Research & Innovation
dc.date.issued2022-10-01
dc.descriptionPublisher Copyright: Copyright © 2022 The Authors.
dc.description.abstractThis paper deals with L1 adaptive control of a novel omnidirectional underwater vehicle called MEROS. To the best of our knowledge, this is the first study of depth and attitude (i.e. φ, θ, and ψ) tracking control on an underwater vehicle. We experimentally prove the effectiveness of the proposed control approach by commanding in closed-loop simultaneously the four aforementioned degrees of freedom (DoFs). The dynamic model of MEROS is highly nonlinear with coupling effects between the different DoFs making its stabilization and tracking control more challenging than conventional ROVs (remotely operated vehicles). Therefore, the use of a robust controller becomes essential, and the proposed scheme allows to ensure robustness whilst fast adaptation is achieved. Real-time experiments are performed to show the effectiveness of the proposed control design.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationChikh , L , Chemori , A & Wang , S 2022 , Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments . in L Rincon-Ardilla (ed.) , IFAC-PapersOnLine . 38 edn , IFAC-PapersOnLine , no. 38 , vol. 55 , Elsevier B.V. , pp. 67-72 , 13th IFAC Symposium on Robot Control, SYROCO 2022 , Virtual, Online , United States , 17/10/22 . https://doi.org/10.1016/j.ifacol.2023.01.135
dc.identifier.citationconference
dc.identifier.doi10.1016/j.ifacol.2023.01.135
dc.identifier.isbn9781713867890
dc.identifier.issn2405-8963
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85161669721&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherElsevier B.V.
dc.relation.ispartofIFAC-PapersOnLine
dc.relation.ispartofseriesIFAC-PapersOnLine
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsAttitude control
dc.subject.keywordsAutonomous robotic systems
dc.subject.keywordsL adaptive control
dc.subject.keywordsMechatronic systems
dc.subject.keywordsMotion Control
dc.subject.keywordsRobotics technology
dc.subject.keywordsUnderwater robot
dc.subject.keywordsControl and Systems Engineering
dc.titleMultivariable L1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experimentsen
dc.typeconference output
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