Planar path following of underwater snake robots in the presence of ocean currents
Journal article, Peer reviewed
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Original versionIEEE Robotics and Automation Letters. 2016, 1 (1), 383-390. 10.1109/LRA.2016.2517827
This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and limited link angles. The proposed control approach uses a heading controller that exponentially stabilises the heading of the robot towards the desired heading, which is obtained by an integral line-ofsight guidance law. Uniform semiglobal exponential stability of the control system is formally proved using cascaded systems and Lyapunov theory. Simulations are presented that illustrate and validate the theoretical results.