Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle

Divine Maalouf 1 Vincent Creuze 2 Ahmed Chemori 3 Olivier Tempier 1
2 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with a novel control architecture for roll stabilization of an underactuated underwater vehicle. This method relies on the use of an internal rotor to generate inertial counter torque in order to cancel out the disturbances affecting the roll (unactuated coordinate). Moreover, the dynamic model incorporates the thrusters’ dynamics, and undesirable effects are compensated by a feedforward controller. The performance and efficiency of the proposed control scheme are illustrated through simulation results.
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Divine Maalouf, Vincent Creuze, Ahmed Chemori, Olivier Tempier. Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle. International Journal of Robotics and Automation, ACTA Press, 2015, 30 (1), pp.4161-4196. ⟨10.2316/Journal.206.2015.1.206-4161⟩. ⟨lirmm-01119880⟩

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