A4 Vertaisarvioitu artikkeli konferenssijulkaisussa
Depth Control of Underwater Robots Using Sliding Modes and Gaussian Process Regression
Tekijät: Lima Gabriel S., Bessa Wallace M., Trimpe Sebastian
Toimittaja: Tiago Pereira do Nascimento, Esther Luna Colombini, Alisson Vasconcelos de Brito, Luciane Terra dos Santos Garcia, Sarah Thomaz de Lima Sá, Luiz Marcos Garcia Gonçalves
Konferenssin vakiintunut nimi: Latin American Robotics Symposium
Julkaisuvuosi: 2018
Journal: Latin American Robotics Symposium
Kokoomateoksen nimi: Proceedings of the 2018 Latin American Robotics Symposium (LARS)
Sarjan nimi: Latin American Robotics Symposium
Aloitussivu: 8
Lopetussivu: 12
ISBN: 978-1-5386-7762-9
eISBN: 978-1-5386-7761-2
ISSN: 2639-1775
DOI: https://doi.org/10.1109/LARS/SBR/WRE.2018.00012
Verkko-osoite: https://ieeexplore.ieee.org/document/8588519
The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation for hydrodynamic effects. In this work, a new robust control scheme is presented for remotely operated underwater vehicles. In order to meet both robustness and tracking requirements, sliding mode control is combined with Gaussian process regression. The convergence properties of the closed-loop signals are analytically proven. Numerical results confirm the stronger improved performance of the proposed control scheme.
