%0 Journal Article
%T Modeling and Control of a Micro AUV: Objects Follower Approach
%+ École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)
%+ Département STIC [Brest] (STIC)
%A Monroy-Anieva, Jesus
%A Rouvière, Cyril
%A Campos-Mercado, Eduardo
%A Salgado-Jimenez, Tomas
%A Garcia-Valdovinos, Luis
%Z SENER-CONACyT Hydrocarbons Sectorial Fund - 201441
%< avec comité de lecture
%@ 1424-8220
%J Sensors
%I MDPI
%V 18
%N 8
%P 2574
%8 2018-08
%D 2018
%R 10.3390/s18082574
%K Stability
%K Nonlinear PD
%K Computer vision
%K Submarine robot
%K Modeling
%K Control
%K Embedded system
%K Micro vehicle
%Z Engineering Sciences [physics]
%Z Engineering Sciences [physics]/AutomaticJournal articles
%X This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (mu-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov's theory is given. Furthermore, the performance of the mu-AUV is validated through numerical simulations in MatLab and real-time experiments.
%G English
%L hal-01917091
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01917091
%~ ENSTA-BRETAGNE
%~ ENSTA-BRETAGNE-STIC
%~ TDS-MACS