Force control of underwater thrusters with application to AUV motion control

Addresses the problem of force control of underwater thrusters. First, we present the design of a low-cost force sensor, devoted to thrust measurement for marine applications. This force sensor can act as a mechanical interface between the thruster and a vehicle structure. Its behaviour is presented in both static and dynamic mode. The design of a force control law is detailed. An experimental test setup is described and tank testing experiments are presented.