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Intelligent Control Systems Conference Paper 2018

Depth Control of Underwater Robots using Sliding Modes and Gaussian Process Regression

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Intelligent Control Systems
Sebastian Trimpe
Lars2018

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.

Author(s): Gabriel S. Lima and Wallace M. Bessa and Sebastian Trimpe
Book Title: Proceeding of the 15th Latin American Robotics Symposium
Year: 2018
Month: November
Bibtex Type: Conference Paper (inproceedings)
Address: João Pessoa, Brazil
Event Name: 15th Latin American Robotics Symposium
Event Place: João Pessoa, Brazil
State: Published
Electronic Archiving: grant_archive

BibTex 

@inproceedings{lima-lars-18,
  title = {Depth Control of Underwater Robots using Sliding Modes and Gaussian Process Regression},
  booktitle = {Proceeding of the 15th Latin American Robotics Symposium},
  abstract = {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.},
  address = {João Pessoa, Brazil},
  month = nov,
  year = {2018},
  slug = {lima-lars-18},
  author = {Lima, Gabriel S. and Bessa, Wallace M. and Trimpe, Sebastian},
  month_numeric = {11}
}