Abstract
This paper outlines the conception, modeling and control of a rover type modular mini submarine. The development and implementation of the mechanical structure as well as the embedded electronics is described. The onboard instrumentation and sensors required to collect data on the environment and on its own position and orientation are also described. The mathematical representation to describe the movement of an underwater vehicle is analyzed considering the characteristics and limitations of the underwater robot. Furthermore, a control algorithm is implemented based on Lyapunov theory and Backstepping Integral Adaptive (BIA). This control strategy stabilizes the vehicle in position and orientation. The proposed control algorithm is validated in numerical simulations as well as in experimental tests which confirm the good performance of the prototype and the controller.
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Manzanilla, A., Garcia, M., Lozano, R., Salazar, S. (2018). Design and Control of an Autonomous Underwater Vehicle (AUV-UMI). In: Jaulin, L., et al. Marine Robotics and Applications. Ocean Engineering & Oceanography, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-319-70724-2_6
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DOI: https://doi.org/10.1007/978-3-319-70724-2_6
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