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Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration

Xianbo Xiang 1 Lionel Lapierre 2 Bruno Jouvencel 2 
2 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 problem of steering autonomous underwater vehicle (AUV) along a desired horizontal path throughout the full-range low-speed and high-speed profiles, experiencing both fully-actuated and under-actuated configurations. First, a nonlinear controller adopting Lyapunov’s direct method and backstepping technique is proposed for under-actuated AUV, based on the Line-of-Sight guidance built in a moving Frenet–Serret frame. And then, the controller is adapted to fully-actuated AUV except that the control computation for the evolution of the side-slip angle is different from the case of under-actuated one. Hence, both the fully-actuated and under-actuated configurations are under the same control framework, which enables a smooth continuous transition between two configurations in a synthesized controller. Finally, simulation results illustrate the performance of the proposed control design, where the varied control efforts in the sway direction clearly show the transitions from fully-actuated to under-actuated configuration.
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Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel. Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration. Robotics and Autonomous Systems, Elsevier, 2015, Advances in Autonomous Underwater Robotics, 67, pp.14-22. ⟨10.1016/j.robot.2014.09.024⟩. ⟨lirmm-01310976⟩



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