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Preliminary experiments in underactuated nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models: Theory and experimental evaluation

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2 Author(s)

This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) 3-degree-of-freedom (3-DOF) controller and one model-based 3-DOF controller designed to enable an underactuated underwater vehicle to perform exact X-Y position and velocity tracking. We report a comparative experimental evaluation of the two controllers in free motion experiments. We conclude that the model-based controller's mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers.

Published in:

Oceans, 2012

Date of Conference:

14-19 Oct. 2012