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Sensors 2018, 18(8), 2574;

Modeling and Control of a Micro AUV: Objects Follower Approach

Energy Division, Center for Engineering and Industrial Development-CIDESI, Santiago de Queretaro, Queretaro 76125, Mexico
Automation and Control Department, Universidad Politecnica de Tulancingo-UPT, Tulancingo 43629, Hidalgo, Mexico
Ecole Nationale Supérieure de Techniques Avancées-ENSTA, Bretagne, Brest 29806, France
CONACYT, Universidad del Istmo de Tehuantepec-UNISTMO, Tehuantepec 70760, Oaxaca, Mexico
Current address: Av. Playa Pie de la Cuesta No. 702, Desarrollo San Pablo, Santiago de Queretaro, Queretaro 76125, Mexico.
Author to whom correspondence should be addressed.
Received: 14 June 2018 / Revised: 17 July 2018 / Accepted: 19 July 2018 / Published: 6 August 2018
(This article belongs to the Special Issue Sensors Signal Processing and Visual Computing)
Full-Text   |   PDF [1669 KB, uploaded 6 August 2018]   |  


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. View Full-Text
Keywords: submarine robot; modeling; control; embedded system; micro vehicle; nonlinear PD; stability; computer vision submarine robot; modeling; control; embedded system; micro vehicle; nonlinear PD; stability; computer vision

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Monroy-Anieva, J.A.; Rouviere, C.; Campos-Mercado, E.; Salgado-Jimenez, T.; Garcia-Valdovinos, L.G. Modeling and Control of a Micro AUV: Objects Follower Approach. Sensors 2018, 18, 2574.

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