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EE Short Courses | Lecture 3: Advanced motion control of marine vehicles

Start Date: November 14, 2017
End Date: November 14, 2017

By Dr. Ahmed Chemori
(Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM))
Autonomous marine vehicles have gained an increased interest in the last decades given the multiple tasks they can accomplish in various fields ranging from scientific to industrial applications. One of the potential applications concerns underwater inspection of structures (such as bridges, hydraulic dams, ship hulls, cables, etc). This operation consists in primarily visual observations of the structure being inspected with quantitative measurements. When interested to control of autonomous marine vehicles, different challenges may arise. They include inherent high nonlinearities and time varying behavior of the vehicle’s dynamics subject to hydrodynamic effects and external disturbances. In order to avoid degradation in the performance of the controlled system during a specific mission, the vehicle is expected to possess a self tuning ability and compensate for different kind of disturbances. That is why adaptive controllers are very popular for such systems. However, various problems are related to the implementation of an adaptive controller on an underwater vehicle such as i) the need for the persistency in excitation that can lead to a bad transient behavior, ii) the tuning of the adaptation gains that can lead either to instability (high gains) or slow down the convergence rate (small gains), iii) the need of an appropriate initialization of the estimated parameters requiring an a priori knowledge of the system. The recently developed L1 adaptive control technique stands out among all other developed methods in its particular architecture where robustness and adaptation are decoupled. During this research stay, we will focus on the design of advanced control schemes (like L1 adaptive control) for marine vehicles and their applications to some specific inspection tasks, such as em subsea cable tracking with magnetic sensing guidance. All the proposed control schemes will be implemented and validated in real-time on marine vehicles available at the Laboratory of Autonomous Robotic Marine Systems (ARMs) at the School of Naval Architecture and Ocean Engineering (HUST).
Biography : Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their applications in robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics and wearable robotics). He is the author of more than 85 scientific publications, including international journals, patents, book chapters and international conferences. He co-supervised 13 PhD theses (including 6 defended) and more than 35 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events. He has been invited as plenary/keynote speaker for various international conferences. In April (respectively September) 2017 he has been visiting Huazhong University of Science & Technology (respectively China University of Petroleum) as invited professor. Website:

More Information:

For more info contact: Professor Meriem T. Laleg: email:
Date: Tuesday 14th Nov 2017
Time:10:30 AM - 12:00 PM
Location: Building 9, Level 3, Room 3125
Refreshments: will be available @ 10:15 am