Title :
Forward speed control of a pulsed-jet soft-bodied underwater vehicle
Author :
Giorelli ; Giorgio-Serchi ; Laschi
Author_Institution :
Centre for Sea Technol. & Marine Robot., Scuola Superiore Sant´Anna, Livorno, Italy
Abstract :
This paper reports on the development of the control for a new class of soft underwater vehicles. These vehicles exploit their soft-bodied nature to produce thrust by cyclically ingesting and expelling ambient fluid. A forward speed control based on the linearised dynamics of the robot is design. The control succeeds at dealing with the discontinuous thrust by accounting for the shape-change driven actuation.
Keywords :
autonomous underwater vehicles; control system synthesis; linearisation techniques; robot dynamics; velocity control; ambient fluid; control design; discontinuous thrust; forward speed control; pulsed-jet soft-bodied underwater vehicle; robot linearised dynamics; shape-change driven actuation; Mathematical model; Robots; Torque; Underwater cables; Underwater vehicles; Vehicle dynamics; Vehicles;
Conference_Titel :
Oceans - San Diego, 2013
Conference_Location :
San Diego, CA
