loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Y. Han ; R. A. de Callafon ; J. Cortés and J. Jaffe

Affiliation: UCSD, United States

ISBN: 978-989-8425-01-0

Keyword(s): Underwater robotics, Submersible drogues, Switching control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Space and Underwater Robotics

Abstract: This paper analyzes the dynamic properties of a submersible drogue for which buoyancy control is implemented by a flexible membrane and pneumatic actuation. It is shown how a simple on/off switching algorithm tuned on the basis of depth measurements and an estimated depth velocity can be used to achieve accurate depth control with small fluctuations. The switching control makes the pneumatically controlled drogue an inherent hybrid system and conditions for contraction and stability are given for the proposed switching control algorithm. Numerical evaluation of the conditions for stability and experimental data of the switching control implemented on a pneumatic submersible drogue further demonstrates the soundness of the proposed switching control algorithm.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.80.4.76

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Han Y.; A. de Callafon R.; Cortés J.; Jaffe J. and (2010). DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 89-97. DOI: 10.5220/0002953800890097

@conference{icinco10,
author={Y. Han and R. {A. de Callafon} and J. Cortés and J. Jaffe},
title={DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={89-97},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002953800890097},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE
SN - 978-989-8425-01-0
AU - Han, Y.
AU - A. de Callafon, R.
AU - Cortés, J.
AU - Jaffe, J.
PY - 2010
SP - 89
EP - 97
DO - 10.5220/0002953800890097

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.