Underwater Robots - Gianluca Antonelli.pdf

3.9 Numerical Comparison Among the Reduced Controllers 63
implicitly change the effective gain acting onthe error, the equivalence of the
gains, thus, is only apparent.
Aseparate discussion needs tobedone for the controller B .Its specific
structure makes it really hard totune the parameters following these simple
considerations. As recognized in [323], moreover, the parameter tuning of
their controller has not been simple and handy for being used in the experiments
with the vehicle ODIN III. For this reason, while the controller has
been object of the theoretical discussion, the simulation will not be reported.
The following gains have been used for the controller A :
K P =blockdiag { 8 . 8 I 3 , 20I 4 } ,
K D =blockdiag { 110I 3 , 40I 4 } ,
K I =blockdiag { 0 . 2 I 3 , 1 I 4 } .
The following gains have been used for the controller C :
K D =blockdiag { 110I 3 , 40I 3 } ,
Λ =blockdiag { 0 . 08I 3 , 0 . 9 I 3 } ,
− 1
K θ =2I 9 .
The following gains have been used for the controller D :
K D =blockdiag { 110I 3 , 40I 3 } ,
Λ =blockdiag { 0 . 08I 3 , 0 . 9 I 3 } ,
− 1
K θ =2I 4 ,
W − 1 =2I 6 .
The following gains have been used for the controller E :
K D =blockdiag { 110I 3 , 40I 3 } ,
Λ =blockdiag { 0 . 08I 3 , 0 . 9 I 3 } ,
− 1
K θ P =2I 9 .
The following gains have been used for the controller F :
K D =blockdiag { 8 . 8 I 3 , 36I 3 } ,
K V =blockdiag { 110I 3 , 40I 3 } ,
Λ =blockdiag { 0 . 08I 3 , 0 . 9 I 3 } ,
− 1
K θ P =2I 9 .
3.9.1 Results
The code to reproduce the simulation and to plot or compare all the outputs
is given in http://webuser.unicas.it/antonelli/auv.zip together with
a readme.txt file of explanation.
In Figure 3.4 the position and orientation for controller A are given; it can
be noticed that inthe first 60 seconds the control needs to adapt with respect