Title :
Force control of underwater thrusters with application to AUV motion control
Author :
Deniellou, L. ; Gallou, Y. ; Gourmelen, P. ; Seube, N.
Author_Institution :
ENSIETA, France
fDate :
28 Sep-1 Oct 1998
Abstract :
Addresses the problem of force control of underwater thrusters. First, we present the design of a low-cost force sensor, devoted to thrust measurement for marine applications. This force sensor can act as a mechanical interface between the thruster and a vehicle structure. Its behaviour is presented in both static and dynamic mode. The design of a force control law is detailed. An experimental test setup is described and tank testing experiments are presented
Keywords :
distance measurement; feedback; force control; force sensors; mobile robots; motion control; remotely operated vehicles; underwater vehicles; AUV motion control; autonomous underwater vehicles; low-cost force sensor; mechanical interface; tank testing experiments; thrust measurement; underwater thrusters; Fluid dynamics; Fluid flow control; Force control; Force measurement; Force sensors; Mechanical variables measurement; Motion control; System testing; Vehicle dynamics; Velocity measurement;
Conference_Titel :
OCEANS '98 Conference Proceedings
Conference_Location :
Nice
Print_ISBN :
0-7803-5045-6
DOI :
10.1109/OCEANS.1998.724397
