Model-based LOS path-following control of planar underwater snake robots
Journal article, Peer reviewed
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Original versionLecture notes in control and information sciences. 2017, 474 343-363. 10.1007/978-3-319-55372-6_16
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.