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 work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (
-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
-AUV is validated through numerical simulations in MatLab and real-time experiments.
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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.
Monroy-Anieva JA, Rouviere C, Campos-Mercado E, Salgado-Jimenez T, Garcia-Valdovinos LG. Modeling and Control of a Micro AUV: Objects Follower Approach. Sensors. 2018; 18(8):2574.
Monroy-Anieva, Jesus A.; Rouviere, Cyril; Campos-Mercado, Eduardo; Salgado-Jimenez, Tomas; Garcia-Valdovinos, Luis G. 2018. "Modeling and Control of a Micro AUV: Objects Follower Approach." Sensors 18, no. 8: 2574.
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