Title :
Depth adjuster design and control for an underwater vehicle
Author :
Qingmei Li ; Shaorong Xie ; Yan Peng ; Jianfeng Shi ; Peng Wu ; Jiqing Chen ; Jun Luo ; Gu, Jhen-Fong
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China
Abstract :
In order to improve the depth control of an underwater vehicle, a depth adjuster with the moving weight and a servo mechanism is designed. The dynamic model of the interaction between the underwater vehicle and the depth adjuster is analyzed. The terminal sliding mode controller is used to control the displacement of the moving mass and the depth of the whole system. Simulations show that the proposed depth adjuster and its controller are effective and the system can reach the predefined depth.
Keywords :
displacement control; servomechanisms; underwater vehicles; variable structure systems; depth adjuster design; depth control; displacement control; dynamic model; moving weight; servo mechanism; terminal sliding mode controller; underwater vehicle; Conferences; Dynamics; Force; Propellers; Torque; Underwater vehicles; Vehicle dynamics; Underwater Vehicle; depth control; terminal sliding mode control;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932755
