System Identification and Sliding Mode Depth Control of the Micro AUV SEMBIO

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 8Language: englishTyp: PDF

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Behrje, Ulrich; Amory, Ammar; Meyer, Benjamin; Maehle, Erik (University of Lübeck, Institute of Computer Engineering, Germany)

This paper presents an approach of system identification of the autonomous underwater vehicle (AUV) SEMBIO leading to a sliding mode depth controller for precise underwater movements. A dynamic model has been derived, including static nonlinearities induced by the brushless motors of the thrusters. This leads to advantages in comparison to common PID controllers eliminating effects of non-rotating thrusters due to small computed control variables. Different experiments under realistic conditions and resulting behaviors proving this statement are presented.