Active Yaw Stabilization for Smooth, Highly Maneuverable Underwater Vehicles
Author(s)
Mazumdar, Anirban
Fittery, Aaron M.
Lozano, Martin
Asada, Haruhiko
Date Issued
October 2012
Journal
ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
Publisher
ASME International
Citation
Mazumdar, Anirban, et al. “Active Yaw Stabilization for Smooth, Highly Maneuverable Underwater Vehicles.”ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference, 17-19 October, 2012, Fort Lauderdale, Florida, ASME, 2012, p. 195. © 2012 by ASME.
Version
Final published version
Abstract
This paper describes the development of a robot that combines a powerful propeller with a pump-valve system that enables high maneuverability. In order to reduce size and improve turning performance, the design does not include external stabilizers such as fins. Therefore the robot is directionally unstable (yaw direction). In this work we outline the design of a linear stabilizing controller that does not require complicated flow sensors and instead simply uses angle and rate measurements. The linear controller was simulated and then implemented on a prototype robot. Preliminary results reveal that this stabilization method works to enable straight motions and is also able to reject sub-stantial disturbances.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/DSCC2012-MOVIC2012-8693
