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Journal Articles Ocean Engineering Year : 2018

Redundant actuation system of an underwater vehicle


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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lirmm-01898288 , version 1 (18-10-2018)



Benoît Ropars, Lionel Lapierre, Adrien Lasbouygues, David Andreu, René Zapata. Redundant actuation system of an underwater vehicle. Ocean Engineering, 2018, 151, pp.276-289. ⟨10.1016/j.oceaneng.2017.12.025⟩. ⟨lirmm-01898288⟩
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