A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)

Author

Watson, Simon A. ; Green, Peter N.

Author_Institution

Sch. of Electr. & Electron. Eng., Univ. of Manchester, Manchester, UK

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

561

Lastpage

566

Abstract

Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation.

Keywords

industrial robots; mobile robots; motion control; process control; remotely operated vehicles; underwater acoustic communication; underwater vehicles; AUV design; decoupled vertical controller; horizontal plane; independent movement capability; industrial processes monitoring; manoeuvrability requirement; microautonomous underwater vehicles; underwater sensor network; vertical control system; vertical plane; Electronic ballasts; Force; Mathematical model; Oscillators; Steady-state; Underwater vehicles; Vehicles; Autonomous Underwater Vehicles (AUVs); PID Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5985722

Filename

5985722