Control en Orientación de un Micro AUV a través de un Sistema Embebido (Attitude Control of a Micro AUV through an Embedded System)

Jesús Arturo Monroy (, Eduardo Campos (, Jorge Antonio Torres (

1Universidad Autónoma de la Ciudad de México
2CONACYT - Universidad del Istmo
3Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: April 2017
Volume: 15,   Issue: 4 
ISSN: 1548-0992

This paper shows the design, modeling and control of a micro submarine (Cookie ROV) for inspection tasks in closed areas. The prototype include an embedded system (gumstix) in order to apply the control algorithms. This vehicle is made of materials and devices of low cost. The main goal consists of implementation and the comparison of controllers: PD, PID and saturated PD for stabilizing attitude of vehicle using an IMU (Inertial Measurement Unit). The Dynamic model is described by Newton-Euler equations. It presents vehicle's performance validation with help of MatLab Simulink and experimental results in real time. The contribution of this work is the original and compact design of the prototype to obtain a dynamic uncoupled in orientation and position, as well as its construction and integration of versatile and modular electronic components of small size, besides the implementation and validation of the different strategies of control systems to compare and obtain the best performance.

Index Terms:
Micro Autonomous Underwater Vehicle, prototype, embedded system, PD, PID and saturated PD controllers, control, real time experiments   

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