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- W3208376590 abstract "Hybrid Underwater Gliders combine classical thruster propulsion actuators with the buoyancy engine and internal pitch and roll moving masses present in buoyancy-driven Autonomous Underwater Gliders. This paper presents a pitch-based depth tracking controller for a Hybrid Underwater Glider propelled by a constant forward force applied through a single thruster. The proposed control consists of a two-stage nonlinear PID modified by a set of saturation functions that increase the robustness of the standard controller. The asymptotic stability of the closed-loop tracking system is proved using the Lyapunov approach. Real-time experimental results are presented to demonstrate the proposed nonlinear PID feasibility." @default.
- W3208376590 created "2021-11-08" @default.
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- W3208376590 date "2021-01-01" @default.
- W3208376590 modified "2023-10-18" @default.
- W3208376590 title "On Saturated NL-PID Control for Depth Trajectory Tracking of a Hybrid Underwater Glider: Real-Time Evaluation" @default.
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- W3208376590 doi "https://doi.org/10.1016/j.ifacol.2021.10.368" @default.
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