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Nonlinear control and visual guidance of underwater vehicles

Abstract : Recent advances in technology have led to a growing interest in underwater robotic applications.Historically, payload constraints have severely limited the development of scale-model underwatervehicles. They are small; their dynamics are highly nonlinear, subjected to complex and imprecisehydrodynamic effects and to disturbances commensurable with the control actions. Consequently, theyprovide an ideal testing ground for sophisticated nonlinear control techniques. Classical controltechniques applied to these vehicles seem to be inadequate in dealing with their highly nonlineardynamics, model uncertainties and external disturbances. Another key arising issue is the difficulty ofnavigation in cluttered environments and close to obstacles without precise positioning with respect tothe environment and without velocity measurements.In the present thesis, two research topics have been considered. Firstly, two novel dynamic visualservoing controllers exploiting the so-called homography matrix for fully-actuated vehicles (withoutmeasuring the linear velocity) have been proposed. These two approaches are derived for two differentcamera configurations: downward-looking and forward-looking. The key contribution here is thenon-requirement of costly Doppler Velocity Log (DVL) velocity sensor. The control performance hasbeen validated over simulations and via practical trials in a real challenging environment. Theexperimental platform as well as the software was built over the period of the thesis. Secondly, a noveltrajectory tracking algorithm for a class of underactuated vehicles with axisymmetric slender body hasbeen developed. The proposed approach makes use of a new nonlinear dynamic model of the vehicle,and exploits the symmetry of the vehicle in control design. The control performance and its robustnesshave been validated via simulations using a realistic model of an underwater vehicle.
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  • HAL Id : tel-03092317, version 1

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Lam Hung Nguyen. Nonlinear control and visual guidance of underwater vehicles. Automatic. COMUE Université Côte d'Azur (2015 - 2019), 2019. English. ⟨NNT : 2019AZUR4095⟩. ⟨tel-03092317⟩

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