Model-based LOS path-following control of planar underwater snake robots

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.