{"title":"A model-based kinematic guidance method for control of underactuated autonomous underwater vehicles","authors":"Loïck Degorre , Thor I. Fossen , Olivier Chocron , Emmanuel Delaleau","doi":"10.1016/j.conengprac.2024.106068","DOIUrl":null,"url":null,"abstract":"<div><p>In this work, a novel guidance principle for underactuated autonomous underwater vehicles is introduced. This new method relies on the kinematic coupling between non-actuated and actuated degrees of freedom. It uses a newly introduced matrix called the <em>Handy Matrix</em> denoted <span><math><mi>H</mi></math></span>. The method allows reassigning unused degrees of freedom of the task to useful non-actuated DOF. The algorithm and design rules leading to the construction of <span><math><mi>H</mi></math></span> are also provided. Two different solutions based on matrix <span><math><mi>H</mi></math></span> are compared on a standard seabed scanning task.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106068"},"PeriodicalIF":5.4000,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124002272","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this work, a novel guidance principle for underactuated autonomous underwater vehicles is introduced. This new method relies on the kinematic coupling between non-actuated and actuated degrees of freedom. It uses a newly introduced matrix called the Handy Matrix denoted . The method allows reassigning unused degrees of freedom of the task to useful non-actuated DOF. The algorithm and design rules leading to the construction of are also provided. Two different solutions based on matrix are compared on a standard seabed scanning task.
期刊介绍：
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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