Modeling and Control of a Micro AUV: Objects Follower Approach
Jesus Arturo Monroy-Anieva1,2, Cyril Rouviere3, Eduardo Campos-Mercado4
1Energy Division, Center for Engineering and Industrial Development-CIDESI, Santiago de Queretaro, Queretaro 76125, Mexico. jesus.monroy@upt.edu.mx.
Abstract:
This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov's theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.
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