DocumentCode
2080319
Title
Force control of underwater thrusters with application to AUV motion control
Author
Deniellou, L. ; Gallou, Y. ; Gourmelen, P. ; Seube, N.
Author_Institution
ENSIETA, France
Volume
2
fYear
1998
fDate
28 Sep-1 Oct 1998
Firstpage
1054
Abstract
Addresses the problem of force control of underwater thrusters. First, we present the design of a low-cost force sensor, devoted to thrust measurement for marine applications. This force sensor can act as a mechanical interface between the thruster and a vehicle structure. Its behaviour is presented in both static and dynamic mode. The design of a force control law is detailed. An experimental test setup is described and tank testing experiments are presented
Keywords
distance measurement; feedback; force control; force sensors; mobile robots; motion control; remotely operated vehicles; underwater vehicles; AUV motion control; autonomous underwater vehicles; low-cost force sensor; mechanical interface; tank testing experiments; thrust measurement; underwater thrusters; Fluid dynamics; Fluid flow control; Force control; Force measurement; Force sensors; Mechanical variables measurement; Motion control; System testing; Vehicle dynamics; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '98 Conference Proceedings
Conference_Location
Nice
Print_ISBN
0-7803-5045-6
Type
conf
DOI
10.1109/OCEANS.1998.724397
Filename
724397
Link To Document