Design, Construction and Control for an Underwater Vehicle Type Sepiida - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Robotica Année : 2021

Design, Construction and Control for an Underwater Vehicle Type Sepiida

Résumé

A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton-Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.
Fichier principal
Vignette du fichier
Glider-Robotics (1).pdf (2.44 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-02947823 , version 1 (15-02-2021)

Identifiants

Citer

Miguel Angel Garcia Rangel, Pedro Castillo Garcia, Eduardo Campos, Rogelio Lozano. Design, Construction and Control for an Underwater Vehicle Type Sepiida. Robotica, 2021, 39 (5), pp.798-815. ⟨10.1017/s0263574720000739⟩. ⟨hal-02947823⟩
84 Consultations
285 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More