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A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle

Divine Maalouf 1, * Vincent Creuze 2 Ahmed Chemori 3
* Corresponding author
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the design and experimental implementation of an L1 adaptive control on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is proposed to be applied for the first time in the field of underwater vehicles control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV underwater vehicle. Various experimental scenarios are presented to illustrate the ability of the L1adaptive law not only to successfully control pitch and depth (even with strong modeling uncertainties), but also to be e cient towards disturbances like waves or buoyancy changes.
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https://hal.archives-ouvertes.fr/hal-00746494
Contributor : Divine Maalouf <>
Submitted on : Monday, October 29, 2012 - 10:59:32 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:18 PM
Long-term archiving on: : Wednesday, January 30, 2013 - 3:38:09 AM

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Divine Maalouf, Vincent Creuze, Ahmed Chemori. A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle. IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura-Algrave, Portugal. pp.76-81, ⟨10.1109/IROS.2012.6385498⟩. ⟨hal-00746494⟩

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