Flow-relative control of an underwater robot
نویسندگان
چکیده
منابع مشابه
control and guidance of an underwater robot via fuzzy control method
in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...
متن کاملOPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
متن کاملNonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کاملdevelopment and implementation of an optimized control strategy for induction machine in an electric vehicle
in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...
15 صفحه اولAQUA: An underwater walking robot
Based on the RHHex hexapod robot, the AQUA robot is an aquatic robot that swims via the motion of its legs, rather than using thrusters and control surfaces for propulsion. Through an appropriate set of gaits, the AQUA vehicle is capable of five-degree-of-freedom motion in the open water, it can swim along the surface and it can walk along the seabed. The vehicle itself is augmented with a vari...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
سال: 2013
ISSN: 1364-5021,1471-2946
DOI: 10.1098/rspa.2012.0671