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

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

2017

Abstract

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.

Paper Citation

in Harvard Style

Marcusso Manhães M., A. Scherer S., Douat L., Voss M. and Rauschenbach T. (2017). 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 . In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-265-3, pages 102-113. DOI: 10.5220/0006427001020113

in Bibtex Style

@conference{simultech17,
author={Musa Morena Marcusso Manhães and Sebastian A. Scherer and Luiz Ricardo Douat and Martin Voss and Thomas Rauschenbach},
title={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},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2017},
pages={102-113},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006427001020113},
isbn={978-989-758-265-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - 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
SN - 978-989-758-265-3
AU - Marcusso Manhães M.
AU - A. Scherer S.
AU - Douat L.
AU - Voss M.
AU - Rauschenbach T.
PY - 2017
SP - 102
EP - 113
DO - 10.5220/0006427001020113