Path following of underwater robots using Lagrange multipliers

This article proposes a framework for motion control of mechanical systems with application to underwater marine craft. Utilizing analytical mechanics, we establish a link between modeling and simulation of constrained multi-body systems in one hand and motion control of underwater vehicles on the o...

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Bibliographic Details
Published inRobotics and autonomous systems Vol. 67; pp. 44 - 52
Main Authors Peymani, Ehsan, Fossen, Thor I.
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.05.2015
Subjects
Constraint force
Lagrangian mechanics
Path following
Underactuation
Virtually constrained motion
Lagrangian mechanics
Virtually constrained motion
Constraint force
Path following
Underactuation
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Summary:This article proposes a framework for motion control of mechanical systems with application to underwater marine craft. Utilizing analytical mechanics, we establish a link between modeling and simulation of constrained multi-body systems in one hand and motion control of underwater vehicles on the other hand. The beauty of the presented approach consists in simplicity and physical interpretability, where imaginary dampers and springs introduce a deformable body and take care of motion of the vehicle. The proposed method is used to develop a novel path-following controller for UUVs. •The “virtually constrained motion” control methodology is introduced.•The fundamental principles of mechanics are used to derive control laws.•A novel path-maneuvering controller is designed for underactuated marine craft.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2014.10.011