@article{ref1,
title="Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: theory and experimental evaluation",
journal="International journal of robotic research",
year="2016",
author="Martin, Stephen C. and Whitcomb, Louis L.",
volume="35",
number="10",
pages="1164-1184",
abstract="This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) six-degree-of-freedom (6-DOF) controller and two model-based 6-DOF controllers designed to enable low-speed, neutrally buoyant, and fully actuated underwater vehicles to perform 6-DOF set-point regulation and trajectory tracking. We show analytically that the non-model-based PD controller provides locally asymptotically stable set-point regulation, and we show analytically that the model-based controllers provide locally asymptotically stable 6-DOF trajectory tracking. Numerical simulation studies are reported that corroborate the analytical stability results. We report the first comparative experimental evaluation of three different control algorithms for dynamic 6-DOF trajectory tracking of fully actuated underwater vehicles. Experimental results with the Johns Hopkins University remotely operated vehicle (JHU ROV) show that the model-based controllers' mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers. The model-based controllers are shown to outperform the non-model-based controllers over a wide range of variations in the magnitude of derivative feedback gain. The velocity tracking error of the model-based controllers is shown to be on the same order of magnitude as the measurement error of the velocity sensing instrumentation.<p /> <p>Language: en</p>",
language="en",
issn="0278-3649",
doi="10.1177/0278364915620032",
url="http://dx.doi.org/10.1177/0278364915620032"
}