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Framework for fair comparisons of underwater vehicle controllers - showcasing the robustness properties of a model-free sliding mode controller tuned with a random-forest-based Bayesian optimization approach

: Marcusso Manhães, Musa Morena; Scherer, Sebastian A.; Douat, Luiz Ricardo; Voss, Martin; Rauschenbach, Thomas


Rango, F. de ; Institute for Systems and Technologies of Information, Control and Communication -INSTICC-, Setubal:
7th International Conference on Simulation and Modeling Methodologies, Technologies and Application, SIMULTECH 2017. Proceedings : July 26-28, 2017, in Madrid, Spain
SciTePress, 2017
ISBN: 978-989-758-265-3
International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH) <7, 2017, Madrid>
Conference Paper
Fraunhofer IOSB ()
underwater robotic; robust control; SMAC; sliding mode control; underwater robotics simulation

Tasks with underwater vehicles present several challenges that include complex and hazardous environments, and unmodeled and/or unknown uncertainties. The setup of positioning controllers is therefore a difficult and laborious task and very often leads to suboptimal performance results on the field. This paper shows a framework for methodical evaluation and setup of dynamic positioning controllers for underwater vehicles with simulation-based optimization method using performance metrics. The proposed method can be configured to be mission specific and delivers a controller configuration that also allows a fair numerical comparison between control algorithms on similar scenarios.