Abstract
This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller lo- cated at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is de- signed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasi- bility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: International Journal of Control, Automation and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.