Redundant actuation system of an underwater vehicle

This paper addresses the question of redundancy management of a vectorial actuation system of an underwater robot. The approach focuses on the compensation of the actuators structural imperfections: dead-zone and motor's response disparity. The solution is based on the identification of a correction matrix which highly improves the open-loop response of the actuation system. The effect is formally shown in the linear case approximation. Experimental validation shows the performance of the solution.