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Active Yaw Stabilization for Smooth, Highly Maneuverable Underwater Vehicles

Author(s)
Mazumdar, Anirban; Fittery, Aaron M.; Lozano, Martin; Asada, Haruhiko
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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.
Date issued
2012-10
URI
http://hdl.handle.net/1721.1/118930
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; d'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)
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
ISBN
978-0-7918-4530-1

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