Path following of underwater robots using Lagrange multipliers

Abstract

This article proposes a framework for motion control of mechanical systems with application to underwater marine craft. Utilizing analytical mechanics, we establish a link between modeling and simulation of constrained multi-body systems in one hand and motion control of underwater vehicles on the other hand. The beauty of the presented approach consists in simplicity and physical interpretability, where imaginary dampers and springs introduce a deformable body and take care of motion of the vehicle. The proposed method is used to develop a novel path-following controller for UUVs.