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Design, Construction, and Control for an Underwater Vehicle Type Sepiida

Published online by Cambridge University Press:  08 September 2020

M. Garcia ,
P. Castillo Open the ORCID record for P. Castillo [Opens in a new window] ,
E. Campos  and
R. Lozano
M. Garcia
Affiliation:
CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails: miguelgarciar@cinvestav.mx, rlozano@hds.utc.fr
P. Castillo*
Affiliation:
Université de technologie de Compiègne, CNRS, Heudiasyc (Heuristique et Diagnostic des Systèmes Complexes), CS 60 319 - 60 203 Compiègne Cedex, France. E-mail: castillo@hds.utc.fr
E. Campos
Affiliation:
CONACYT-Universidad del Istmo, Tehuantepec, Oaxaca, Mexico. E-mail: ecampos@conacyt.mx
R. Lozano
Affiliation:
CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails: miguelgarciar@cinvestav.mx, rlozano@hds.utc.fr
*
*Corresponding author. E-mail: castillo@hds.utc.fr
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Summary

A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.

Keywords

Underwater vehicle designMathematical representationMovable mass characterizationPrototypeGlider configurationReal-time validation
Type
Articles
Information
Robotica , Volume 39 , Issue 5 , May 2021 , pp. 798 - 815
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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