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Integral Line-of-Sight for path following of underwater snake robots

Integral Line-of-Sight for path following of underwater snake robots

Category
Conference lecture and academic presentation
Abstract
This paper considers straight line path following control of underwater snake robots in the presence of constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot towards and along the desired path. Integral action is introduced in the guidance law to compensate for the ocean current effect. The stability of the proposed control scheme in the presence of ocean currents is investigated. In particular, using Poincar\'{e} map analysis, we prove that the state variables of an underwater snake robot trace out an exponentially stable periodic orbit when the integral LOS path following controller is applied. Simulation results are presented to illustrate the performance of the proposed path following controller for both lateral undulation and eel-like motion.
Client
  • Norges forskningsråd / 223254
  • Norges forskningsråd / 205622
Language
English
Author(s)
  • Kelasidi Eleni
  • Pettersen Kristin Ytterstad
  • Liljebäck Pål
  • Gravdahl Jan Tommy
Affiliation
  • Norwegian University of Science and Technology
  • SINTEF Digital
Presented at
IEEE MSC 2014
Place
Antibes, Nice
Date
07.10.2014 - 09.10.2014
Year
2014