Fluctuation characteristics and rolling control for an underactuated spherical underwater exploration robot

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Design and characteristics evaluation of a novel spherical underwater robot

This paper depicts the structural design of a novel water-jet-based spherical underwater robot. The propulsion system is made up of four water-jet thrusters and 8 steering servo motors which can adjust the polydirectional shift of thrusters nozzle to achieve 4-degrees-of-freedom (4-DOF) motion. Every two thrusters nozzles formed an angle of 90 degree in one plane. A bilayer structure was adopte...

متن کامل

development 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 اول

Rolling Dispersion and Exploration for Robot Teams

After a disaster, human rescuers may have to wait for better conditions before beginning to search for survivors. A team of robots could enter long before the humans and scope out the environment to gather information that could help to prioritize tasks for the rescue operation. We have developed an algorithm to allow a small group of robots to progressively explore an unknown environment, movi...

متن کامل

Predictive Control of an Underactuated Brachiation Robot

This work is focused on the position control of an underactuated brachiation mobile robot with 3 links. We present the modeling of the dynamics of the robot and introduce the application of the nonlinear model-based predictive control (NMPC) to such a system. The robot has 3 revolute joints but only one of them is actuated, i. e., the robot has less control inputs than degrees of freedom. The i...

متن کامل

Position and Attitude Control of an Underactuated Autonomous Underwater Vehicle

The paper considers control of an autonomous underwater vehicle (AUV) with a reduced number of actua-tors. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. A continuous periodic time-varying feedback law is presented. It is shown that it exponentially stabilizes the total AUV model using only four actuators. Furthermore, it is shown that if the hydrodynami...

متن کامل

ذخیره 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: Journal of Vibroengineering

سال: 2017

ISSN: 1392-8716

DOI: 10.21595/jve.2016.17105