State feedback control of an underwater vehicle for wall following

Abstract

Wall following consists in naviga distance and orientation from a certain surfac This task is required in many application vehicles (e.g. ship hull or hydraulic dam propose a nonlinear state feedback, designe embedded acoustic sensing system. The prop the associated sensor can work on very underwater vehicles at high sampling rates. Se show the ability of a single beam transduce distance and orientation of a wall, while s show how this sensing system can be successf a nonlinear state feedback controller to perf wall following with an underwater veh disturbances.

PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments

“…The main idea of the state feedback linearization controller consists in exactly linearizing the robot's dynamics with a nonlinear state feedback law. Like other model-based controllers [29] for biomimetic robots, this control scheme has been used in underwater robotics [30] and also for some biomimetic underwater vehicles. In our study, this method is designed by state feedback linearization with acceleration feedforward [27].…”

Underwater pre-touch based on artificial electric sense

“…In this context, by combining several concepts in electrostatics and remote control, it can open new perspectives for electric field sensing in general. Second, it proposes a new sensorial feedback modality which could assist teleoperated underwater robotics arms on Remotly Operated Vehicles in harsh conditions as in the case of dam inspection (Maalouf et al 2012).…”