Redundant actuation system of an underwater vehicle

Benoît Ropars 1 Lionel Lapierre 1 Adrien Lasbouygues 1 David Andreu 1 René Zapata 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 the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and mo-tor's response disparity. The solution is based on the identification of a correction matrix which highly improves the open-loop response of the actuation system. The effect is formally shown in the linear case approximation. Experimental validation shows the performance of the solution.
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Benoît Ropars, Lionel Lapierre, Adrien Lasbouygues, David Andreu, René Zapata. Redundant actuation system of an underwater vehicle. Ocean Engineering, Elsevier, 2018, 151, pp.276-289. ⟨10.1016/j.oceaneng.2017.12.025⟩. ⟨lirmm-01898288⟩

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