NDLI: Motion Control System of Underwater Robot without Rudder and Wing

Content Provider	IEEE Xplore Digital Library
Author	Gan Yong Sun Yushan Wan Lei Pang Yongjie
Copyright Year	2006
Description	Author affiliation: Dept. of Naval Archit. & Oceanic Eng., Harbin Eng. Univ. (Gan Yong; Sun Yushan; Wan Lei; Pang Yongjie)
Abstract	Motion control system of underwater robot without rudder and wing is presented with hardware and software architecture. Considering coupling effects and thrust reduction of propellers, the control layer, perception layer and executive layer in underwater robot system architecture are modified. In control layer, a nonlinear controller is presented to handle coupling effects between the longitudinal dimension and other dimensions of underwater robot. The stability of the controller is verified with Lyapunov function. A virtual sonar based guidance law is proposed in perception layer to coordinate motions on different dimensions, which originates from the behavior of human beings. In executive layer a kind of thruster configuration for high speed traveling is introduced to handle thrust reduction of tunnel thrusters. Finally, the reliability and feasibility of the motion control system are demonstrated by sea trial
Starting Page	3006
Ending Page	3011
File Size	5615491
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282235
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Robot kinematics Hardware Software architecture Propellers Control systems Computer architecture Couplings Stability Lyapunov method Thruster configuration Underwater robot Motion controller System architecture Guidance law
Content Type	Text
Resource Type	Article

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