NGUYEN , Lam-Hung

This paper develops a novel nonlinear control approach for slender-body underactuated underwater vehicles with a body shape symmetric with respect to the longitudinal axis. Compared to aerial vehicles, added-mass effects are much more preponderant and complex for underwater vehicles, especially for slender bodies. By considering an axisymmetric...

The paper addresses the challenging problem of image-based dynamic control of Autonomous Underwater Vehicles observing a (near) vertical planar target, without measuring the linear velocity. The proposed control approach exploits a minimum sensor suite consisting of a camera looking forward to provide images from which the homography matrix is...

A homography-based dynamic control approach applied to station keeping of Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography estimated from images of a planar target scene captured by a downward-looking camera is directly used as feedback information. The full dynamics of the AUV...

An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is...