Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles International Journal of Robotics and Automation Year : 2015

Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle

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.
Fichier principal
Vignette du fichier
acta_version_10_janvier.pdf (3.01 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-01119880 , version 1 (06-06-2019)

Identifiers

Cite

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, 2015, 30 (1), pp.4161-4196. ⟨10.2316/Journal.206.2015.1.206-4161⟩. ⟨lirmm-01119880⟩
256 View
174 Download

Altmetric

Share

Gmail Facebook X LinkedIn More