Control of multi-module underwater mobile robot

Ivan A. Vasilyev
PhD in Technical Sciences, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Laboratory, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(965)766-00-37, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 11 February 2019

Abstract
The principles of control of a mobile robot moving in environment and consisting of several hinged modules with actuators are described. In such a robot, each module is equipped with a single propeller. The controllers are based on a simplified solution of an inverse dynamic problem for such a multiply-connected object.

Key words
Mobile robot, control, inverse dynamic problem.

DOI

https://doi.org/10.31776/RTCJ.7207

Bibliographic description
Vasilyev, I. (2019). Control of multi-module underwater mobile robot. Robotics and Technical Cybernetics, 7(2), pp.136-138.

UDC identifier:
004.896

References

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3. Vasilyev, I. (2017). Vyvod differentsial'nogo regulyatora N-go poryadka na osnove dina-miki sistemy [Output of N-th rate differential controller based of system dynamic]. In: Sbornik tezisov mezhdunarodnoi nauchno-tekhnicheskoi konferentsii «Ekstremal'naya robototekhnika-2017» [Abstracts of International Scientific and Technical Conference on Extreme Robotics 2017]. (in Russ.).