Abstract
This chapter presents a model-based control system for straight-line path-following of neutrally buoyant underwater snake robots that move with a planar sinusoidal gait in the presence of an unknown, constant and irrotational ocean current. The control system is based on a cascaded design, where a line-of-sight guidance law is employed in the outer control loop in order to provide a heading reference for the robot. In the presence of currents, the guidance scheme is augmented with integral action in order to compensate for the steady-state error. This work reviews the theoretical control concept and provides experimental test results with a swimming snake robot that demonstrate the concept of the control system and validate the theoretical analysis.
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Acknowledgements
The authors gratefully acknowledge the engineers at the Department of Engineering Cybernetics, Glenn Angell and Daniel Bogen, for the technical support before and during the experimental tests, Stefano Bertelli and Terje Haugen for preparing the necessary components for the experimental setup, the team at the SINTEF Fisheries and Aquaculture flume tank, Kurt Hansen, Nina A. H. Madsen, and Anders Nielsen for the support during the tests there and Martin Holmberg from Qualisys for setting up the motion capture system.
This work was supported by the Research Council of Norway through its Centres of Excellence funding scheme, project no. 223254-NTNU AMOS, and by VISTA - a basic research programme in collaboration between The Norwegian Academy of Science and Letters, and Statoil.
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Kohl, A.M., Kelasidi, E., Pettersen, K.Y., Gravdahl, J.T. (2017). Model-Based LOS Path-Following Control of Planar Underwater Snake Robots. In: Fossen, T., Pettersen, K., Nijmeijer, H. (eds) Sensing and Control for Autonomous Vehicles. Lecture Notes in Control and Information Sciences, vol 474. Springer, Cham. https://doi.org/10.1007/978-3-319-55372-6_16
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DOI: https://doi.org/10.1007/978-3-319-55372-6_16
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