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Limitations of linear control for Cormoran-AUV
González Agudelo, Julián; Benezra, Andreina; Gomáriz Castro, Spartacus; Sarriá Gandul, David
Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació
This work shows a mathematic calculation of the hydrodynamic model for the Cormoran-AUV, together with a linear controller which is valid in a certain range of speeds. It also presents the navigation instruments needed to work correctly. The mathematic model has been simplified to three degrees of freedom of movement and the whole system has been simulated using the Matlab Simulink Software. The system has been linearized for different velocities to design a linear control PD for each one of them. The performance of each PD controller is studied, and some limitations in the implementation of the control have been detected. For the case of low speeds, the desired path doesn’t reach the goals of control’s design using the non-linear model. This behavior motivated the search of a valid range of speeds for the nonlinear model. Different paths have been simulated using this control and their results have been compared trhough the performance in the rising time and the establish time.
Peer Reviewed
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal
Cormoran (autonomous underwater vehicle)
Submersibles -- Automatic control.
Vehicles submergibles -- Control automàtic
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
         

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