Experimental Depth Positioning Control for a Spherical Underwater Robot Vehicle (URV)-Reference-Cited by-同舟云学术

Experimental Depth Positioning Control for a Spherical Underwater Robot Vehicle (URV)

Published:2015-08 Issue: Volume:785 Page:729-733
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Eltigani Ibrahim Abdalla¹,Noh Karsiti Mohd¹,Elamvazuthi Irraivan¹

Affiliation:

1. Universiti Teknologi PETRONAS

Abstract

Recently, position control of URVs has been a challenge due to the buoyancy forces, and high current load of ocean. In this paper, variable ballast tank (VBT) of a spherical URV is developed as vertical motion actuator, and the problem of internal dynamic forces which caused by empty space inside the VBT has been discussed. In order to test the stability of the proposed system, the experimental model of URV has been tested in 1-5 meter underwater depth.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.785.729.pdf

Reference12 articles.

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