Experimental Depth Positioning Control for a Spherical Underwater Robot Vehicle (URV)

Abstract:

Recently, position control of URVs has been a challenge due to the buoyancy forces, and high current load of ocean. In this paper, variable ballast tank (VBT) of a spherical URV is developed as vertical motion actuator, and the problem of internal dynamic forces which caused by empty space inside the VBT has been discussed. In order to test the stability of the proposed system, the experimental model of URV has been tested in 1-5 meter underwater depth.

• Periodical: Applied Mechanics and Materials (Volume 785)
• Pages: 729-733
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.785.729
• Online since: August 2015
• Authors: Abdalla Eltigani Ibrahim*, Mohd Noh Karsiti, Irraivan Elamvazuthi
• Keywords: Depth Positioning Control, Experimental, Spherical URV, Variable Ballast Tank (VBT)

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