文章基本信息

标题：Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles
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作者：Divine Maalouf ; Vincent Creuze ; Ahmed Chemori 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2015
卷号：12
DOI：10.5772/59185
语种：English
出版社：SAGE Publications
摘要：This paper deals with an experimental comparison between the proportional integral derivative (PID) control law and the adaptive nonlinear state feedback control, both applied on the AC-ROV underwater vehicle. The experimental results evaluate the closed-loop behaviour of the system under each controller in various operating conditions in order to compare how robust they are towards parameters’ change and how they can reject external disturbances. It was concluded that the adaptive controller ensures a faster convergence and can adapt to a change of parameters as well as compensate for external disturbances. The PID needs to be retuned for every parameter change and is more sensitive to external disturbances.
关键词：Underwater robotics; Depth regulation; PID controller; Adaptive Controller