%0 Journal Article
%T Experimental validation of constraint mitigation algorithm in underwater robot depth control
%A Benoit Clement
%A Fabricio Garelli
%A Juan Luis Rosendo
%J Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
%@ 2041-3041
%D 2019
%R 10.1177/0959651818791399
%X This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented
%K Modeling
%K autonomous underwater vehicle
%K sliding mode control
%K actuator constraints
%U https://journals.sagepub.com/doi/full/10.1177/0959651818791399