%0 Conference Proceedings %T Underwater Vehicle Modeling and ControlApplication to Ciscrea Robot %+ Lab-STICC_ENSTAB_CID_IHSEV ; OSM %+ Ocean University of China (OUC) %+ Département STIC [Brest] (STIC) %+ Lab-STICC_ENSTAB_CACS_COM %A Yang, Rui %A Probst, Irvin %A Mansour, Ali %A Ming, Li %A Clement, Benoit %< avec comité de lecture %B MOQESM'14 %C Brest, France %8 2014-10-14 %D 2014 %K Underwater Vehicle %K Added Mass %K Damping %K Robust %Z Engineering Sciences [physics]/AutomaticConference papers %X Underwater competitions confirm that the PID yaw controlleris less efficient for low mass Autonomous Underwater Vehicle(AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior,waves, current, AUV bouyance change, motor calibration variations,sensor disturbance and battery variations perturbate the PIDcontrol behavior a lot. Therefore, in this paper we present a model basedrobust controller to control the yaw heading of AUV CISCREA. Themodeling result was verified with experiments, and the robust controllerwas simulated. %G English %L hal-01119676 %U https://hal.science/hal-01119676 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC_ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM