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Roll Control of an Autonomous Underwater Vehicle Using an Internal Rolling Mass

  • Eng You Hong
  • Mandar Chitre
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 105)

Abstract

A stable autonomous underwater vehicle (AUV) is essential for underwater survey activities. Previous studies have associated poor results in bathymetry survey and side-scan imaging with the vehicle’s unwanted roll motion. The problem is becoming more prominent as AUVs are smaller nowadays. This causes reduction in the metacentric height of the AUVs which affects the inherent self-stabilization in the roll-axis. In this paper, we demonstrate the use of an internal rolling mass (IRM) mechanism to actively stabilize the roll motion of an AUV. We rotate the whole electronics tray, which has an off-centric center of gravity, to produce the required torque to stabilize the rollmotion. Themechanical design of such mechanism and its dynamics modeling are discussed in detail. A Proportional-Integral (PI) controller is synthesized using the identified linear model. Results from tank tests and open-field tests demonstrate the effectiveness of the mechanism in regulating the roll motion of the AUV.

Keywords

Autonomous Underwater Vehicle Roll Motion Roll Control Tank Test Roll Response 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.ARL, Tropical Marine Science InstituteNational University of SingaporeSingaporeSingapore
  2. 2.Department of Electrical & Computer Engineering and ARL, Tropical Marine Science InstituteNational University of SingaporeSingaporeSingapore

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