An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle
Current and conventional pose (position and orientation) control of a small underwater vehicle is achieved by using rudders (yaw motion control) and elevators (pitch motion control), but these suffer from non-linear, indirect and complex control issues. This paper proposes an innovative pose control...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/5/352 |
| _version_ | 1797498417564352512 |
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| author | Min-Fan Ricky Lee Yen-Chun Chen |
| author_facet | Min-Fan Ricky Lee Yen-Chun Chen |
| author_sort | Min-Fan Ricky Lee |
| collection | DOAJ |
| description | Current and conventional pose (position and orientation) control of a small underwater vehicle is achieved by using rudders (yaw motion control) and elevators (pitch motion control), but these suffer from non-linear, indirect and complex control issues. This paper proposes an innovative pose control mechanism for small underwater vehicles. The mass shifter mechanism is designed and fabricated to control pitch and yaw motion with a single propeller only. The center of mass of the underwater vehicle is altered by moving a pair of counterweights on fixed tracks. The pitch and yaw are achieved by controlling the position of the counterweight pairs. The proposed system is designed, fabricated and tested in a real underwater environment for proof-of-concept. The result shows a simpler, more efficient and more effective pose control mechanism than conventional technology. |
| first_indexed | 2024-03-10T03:33:05Z |
| format | Article |
| id | doaj.art-aeb196b55466421f85c607a0ebe81ea8 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T03:33:05Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-aeb196b55466421f85c607a0ebe81ea82023-11-23T11:52:42ZengMDPI AGMachines2075-17022022-05-0110535210.3390/machines10050352An Innovative Pose Control Mechanism for a Small Rudderless Underwater VehicleMin-Fan Ricky Lee0Yen-Chun Chen1Graduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei 106335, TaiwanGraduate Institute of Automation and Control, National Taiwan University of Science and Technology, Taipei 106335, TaiwanCurrent and conventional pose (position and orientation) control of a small underwater vehicle is achieved by using rudders (yaw motion control) and elevators (pitch motion control), but these suffer from non-linear, indirect and complex control issues. This paper proposes an innovative pose control mechanism for small underwater vehicles. The mass shifter mechanism is designed and fabricated to control pitch and yaw motion with a single propeller only. The center of mass of the underwater vehicle is altered by moving a pair of counterweights on fixed tracks. The pitch and yaw are achieved by controlling the position of the counterweight pairs. The proposed system is designed, fabricated and tested in a real underwater environment for proof-of-concept. The result shows a simpler, more efficient and more effective pose control mechanism than conventional technology.https://www.mdpi.com/2075-1702/10/5/352unmanned underwater vehiclesmobile robotsrobot motion controlautonomous systems |
| spellingShingle | Min-Fan Ricky Lee Yen-Chun Chen An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle Machines unmanned underwater vehicles mobile robots robot motion control autonomous systems |
| title | An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle |
| title_full | An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle |
| title_fullStr | An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle |
| title_full_unstemmed | An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle |
| title_short | An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle |
| title_sort | innovative pose control mechanism for a small rudderless underwater vehicle |
| topic | unmanned underwater vehicles mobile robots robot motion control autonomous systems |
| url | https://www.mdpi.com/2075-1702/10/5/352 |
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