Quad-tilting thrusters micro submarine: Modeling and control of the attitude

Author

Lopez, R. ; Torres, I. ; Escareño, J. ; Salazar, S. ; Palomino, A.

Author_Institution

Fac. de Cienc. de la Electron., Univ. Autonoma de Puebla, Puebla, Mexico

fYear

2010

fDate

22-24 Feb. 2010

Firstpage

85

Lastpage

89

Abstract

In this paper we present the design, modeling and control of a quad tilting thruster Micro Autonomous Underwater Vehicle (MicroAUV). The detailed dynamic model of the vehicle is deduced via the Euler-Lagrange formulation. We address the stabilization of the attitude of the vehicle to perform manipulation tasks. For this purpose, we have employed a saturated-based control algorithm. Experimental autonomous attitude control was successfully achieved, validating the proposed vehicle as well as the embedded control system.

Keywords

attitude control; differential equations; embedded systems; mobile robots; remotely operated vehicles; underwater vehicles; Euler-Lagrange formulation; MicroAUV; attitude control; embedded control system; micro autonomous underwater vehicle; modeling control; quadtilting thrusters micro submarine; Attitude control; Automatic control; Control systems; Mobile robots; Navigation; Prototypes; Remotely operated vehicles; Stability; Underwater vehicles; Vehicle dynamics; Embedded control system; MicroAUV; Tilting thrusters; saturated-based control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Computer (CONIELECOMP), 2010 20th International Conference on

Conference_Location

Cholula

Print_ISBN

978-1-4244-5352-8

Electronic_ISBN

978-1-4244-5353-5

Type

conf

DOI

10.1109/CONIELECOMP.2010.5440791

Filename

5440791