Title: Advanced control of an autonomous torpedo-type underwater vehicle with integral backstepping techniques in the yaw plane

Authors: Hattab Abdellilah; Yahiaoui Kamel

Addresses: Automatic Department, Electronic Engineering Faculty, University of Sciences and Technology 'Mohamed Boudiaf', B.P. 1505, Oran El M'Naouar, Oran, Algeria ' Automatic Department, Electronic Engineering Faculty, University of Sciences and Technology 'Mohamed Boudiaf', B.P. 1505, Oran El M'Naouar, Oran, Algeria

Abstract: Underwater robots, especially those that are autonomous, are some of the most difficult systems that require a robust controller to handle well the tasks given to them. The difficulty lies in the variation of the parameters of the autonomous underwater robot (inertia, hydrodynamics), the external disturbances, the nonlinearity of the model to be controlled, and the measurement errors due to the sensors. A robust control law such as the backstepping technique is very demanding for this type of system, thanks to its robustness in the face of disturbances. In this work, we discuss the application of the recoil control theory on the diving autonomous robot system, where this article is based on the advanced control of a yaw plane. To improve the performance of our system we make a hybridisation between the integral controller and the backstepping controller. Several simulation tests were performed to test the effectiveness of the proposed commands.

Keywords: diver robot autonomous; recoil control; integral control; mobile robot.

DOI: 10.1504/IJMIC.2024.136632

International Journal of Modelling, Identification and Control, 2024 Vol.44 No.2, pp.145 - 153

Received: 19 Aug 2022
Received in revised form: 02 Jan 2023
Accepted: 08 Jan 2023
Published online: 09 Feb 2024 *

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