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Sliding-PD control performance on autonomous underwater gliders

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Sliding-PD control performance on autonomous underwater gliders. / Andrade-Bustos, Isabel; Garcia-Valdovinos, Luis G.; Salgado-Jimenez, Tomas et al.
OCEANS 2015 - MTS/IEEE Washington. Institute of Electrical and Electronics Engineers Inc., 2016. 7404426 (OCEANS 2015 - MTS/IEEE Washington).

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Andrade-Bustos, I, Garcia-Valdovinos, LG, Salgado-Jimenez, T & Bandala-Sanchez, M 2016, Sliding-PD control performance on autonomous underwater gliders. in OCEANS 2015 - MTS/IEEE Washington., 7404426, OCEANS 2015 - MTS/IEEE Washington, Institute of Electrical and Electronics Engineers Inc., MTS/IEEE Washington, OCEANS 2015, Washington, United States, 19/10/15. https://doi.org/10.23919/oceans.2015.7404426

APA

Andrade-Bustos, I., Garcia-Valdovinos, L. G., Salgado-Jimenez, T., & Bandala-Sanchez, M. (2016). Sliding-PD control performance on autonomous underwater gliders. In OCEANS 2015 - MTS/IEEE Washington Article 7404426 (OCEANS 2015 - MTS/IEEE Washington). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/oceans.2015.7404426

Vancouver

Andrade-Bustos I, Garcia-Valdovinos LG, Salgado-Jimenez T, Bandala-Sanchez M. Sliding-PD control performance on autonomous underwater gliders. In OCEANS 2015 - MTS/IEEE Washington. Institute of Electrical and Electronics Engineers Inc. 2016. 7404426. (OCEANS 2015 - MTS/IEEE Washington). doi: 10.23919/oceans.2015.7404426

Author

Andrade-Bustos, Isabel ; Garcia-Valdovinos, Luis G. ; Salgado-Jimenez, Tomas et al. / Sliding-PD control performance on autonomous underwater gliders. OCEANS 2015 - MTS/IEEE Washington. Institute of Electrical and Electronics Engineers Inc., 2016. (OCEANS 2015 - MTS/IEEE Washington).

Bibtex

@inproceedings{3f842fc37d224788a38f5fda2caad65f,
title = "Sliding-PD control performance on autonomous underwater gliders",
abstract = "The response of the ROGUE underwater glider controlled by a scheme called Sliding PD control is shown and described. This control law has been widely used in robot manipulators, quadrotors and underwater ROV's. This is a model-free and chattering-free controller that makes motion robust to disturbance and uncertainty. The ROGUE dynamic model calculated on the vertical plane take into account a ballast tank fixed at the buoyancy center, a movable mass capable of motion just along the longitudinal axis and eliminates the offset static point mass. These considerations simplify significantly the equations of motion. Through simulation results this nonlinear controller demonstrates that it ensures a steady glide by directly controlling the movable mass position along with the ballast mass.",
author = "Isabel Andrade-Bustos and Garcia-Valdovinos, {Luis G.} and Tomas Salgado-Jimenez and Manuel Bandala-Sanchez",
year = "2016",
month = feb,
day = "8",
doi = "10.23919/oceans.2015.7404426",
language = "English",
series = "OCEANS 2015 - MTS/IEEE Washington",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "OCEANS 2015 - MTS/IEEE Washington",
note = "MTS/IEEE Washington, OCEANS 2015 ; Conference date: 19-10-2015 Through 22-10-2015",

}

RIS

TY - GEN

T1 - Sliding-PD control performance on autonomous underwater gliders

AU - Andrade-Bustos, Isabel

AU - Garcia-Valdovinos, Luis G.

AU - Salgado-Jimenez, Tomas

AU - Bandala-Sanchez, Manuel

PY - 2016/2/8

Y1 - 2016/2/8

N2 - The response of the ROGUE underwater glider controlled by a scheme called Sliding PD control is shown and described. This control law has been widely used in robot manipulators, quadrotors and underwater ROV's. This is a model-free and chattering-free controller that makes motion robust to disturbance and uncertainty. The ROGUE dynamic model calculated on the vertical plane take into account a ballast tank fixed at the buoyancy center, a movable mass capable of motion just along the longitudinal axis and eliminates the offset static point mass. These considerations simplify significantly the equations of motion. Through simulation results this nonlinear controller demonstrates that it ensures a steady glide by directly controlling the movable mass position along with the ballast mass.

AB - The response of the ROGUE underwater glider controlled by a scheme called Sliding PD control is shown and described. This control law has been widely used in robot manipulators, quadrotors and underwater ROV's. This is a model-free and chattering-free controller that makes motion robust to disturbance and uncertainty. The ROGUE dynamic model calculated on the vertical plane take into account a ballast tank fixed at the buoyancy center, a movable mass capable of motion just along the longitudinal axis and eliminates the offset static point mass. These considerations simplify significantly the equations of motion. Through simulation results this nonlinear controller demonstrates that it ensures a steady glide by directly controlling the movable mass position along with the ballast mass.

U2 - 10.23919/oceans.2015.7404426

DO - 10.23919/oceans.2015.7404426

M3 - Conference contribution/Paper

AN - SCOPUS:84963979898

T3 - OCEANS 2015 - MTS/IEEE Washington

BT - OCEANS 2015 - MTS/IEEE Washington

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - MTS/IEEE Washington, OCEANS 2015

Y2 - 19 October 2015 through 22 October 2015

ER -