Thruster's dead-zones compensation for the actuation system of an underwater vehicle

Benoît Ropars 1 Adrien Lasbouygues 1 Lionel Lapierre 1 David Andreu 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper addresses a control allocation method in order to compensate for the effect of thrusters' dead-zones, on the actuation system of an underwater vehicle. This solution concurrently considers dead-zone effect and actuation limitation, in order to increase system reactivity. Moreover the impact on energy consumption is also considered. Experimental results are given to demonstrate the effectiveness and correctness of the proposed method.
Document type :
Conference papers
Complete list of metadatas

Cited literature [10 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01310931
Contributor : Benoit Ropars <>
Submitted on : Tuesday, May 3, 2016 - 1:42:37 PM
Last modification on : Friday, June 7, 2019 - 2:00:02 PM
Long-term archiving on : Tuesday, May 24, 2016 - 6:09:39 PM

File

publication_ecc_Final_submissi...
Files produced by the author(s)

Identifiers

Citation

Benoît Ropars, Adrien Lasbouygues, Lionel Lapierre, David Andreu. Thruster's dead-zones compensation for the actuation system of an underwater vehicle. ECC: European Control Conference, Jul 2015, Linz, Austria. pp.741-746, ⟨10.1109/ECC.2015.7330631⟩. ⟨lirmm-01310931⟩

Share

Metrics

Record views

204

Files downloads

465