Saturation-based, nonlinear, depth-and-yaw control of an underwater vehicle
Author Eduardo Campos-Mercado, Ahmed Chemori, Vincent Creuze, Jorge Torres-Munoz, Rogelio Lozano
Video ID : 268
This video demonstrates the robustness of a saturation-based, nonlinear controller for underwater vehicles. The performance of yaw and depth control of the L2ROV prototype is maintained, even when the buoyancy and the damping are changed.
This work has been conducted by the LIRMM (University Montpellier 2, France) and the LAFMIA (CINVESTAV Mexico), in collaboration with Tecnalia France Foundation. This work has been supported by the French-Mexican PCP program and by the Region Languedoc-Roussillon.