%0 Conference Proceedings %F Poster %T Robust Heading Control and its Application toCiscrea Underwater Vehicle %+ Lab-STICC_ENSTAB_CID_IHSEV %+ Pôle STIC_OSM %+ Ocean University of China (College of Engineering) %+ Lab-STICC_ENSTAB_CID_PRASYS %+ Lab-STICC_ENSTAB_CACS_COM %+ Pôle STIC_IDM %+ Biomathematics Research Centre %A Yang, Rui %A Clement, Benoit %A Mansour, Ali %A Li, Huajun %A Li, Ming %< avec comité de lecture %B OCEANS'15/MTS/IEEE %C Genova, Italy %8 2015-05-18 %D 2015 %K Underwater Robotics %K Computational Fluid dynamics %Z Engineering Sciences [physics]/AutomaticPoster communications %X Deep inside the ocean, the earth magnetic signalis one of the merely existing information that tells the headingof robots with very good cost efficiency. Therefore, this paperfocuses on the AUV (Autonomous Underwater Vehicle) headingcontrol problem using only one magnetic compass as feedbacksensor. In this application, we address AUV modeling and controlissues simultaneously. Because of quadratic damping factor,underwater vehicle hydrodynamic model is nonlinear. In addition,unmodeled dynamics, parameter variations and environmentaldisturbances create significant uncertainties between the nominalAUV model and the reality. Finally, sensor noise, signal delay aswell as unmeasured states also affect the stability and controlperformance of AUV motions. In order to handle these issueswith improved AUV observation quality and navigation ability,we propose a CFD (Computational Fluid Dynamics) model basedH1 robust control scheme.Without loss of generality, the robustheading controller was implemented and validated in the seaon low-mass and complex-shaped Ciscrea AUV. Simulation andsea experimental results of both PID (Proportional IntegralDerivative) and robust heading controller are analysed. %G English %L hal-01156483 %U https://hal.science/hal-01156483 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC_ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM