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Internal actuation of underwater robots using control moment gyros

Thornton, Blair, Ura, Tamaki, Nose, Yoshiake and Turnock, Stephen R. (2005) Internal actuation of underwater robots using control moment gyros In Oceans 2005 - Europe. Institute of Electrical and Electronics Engineers., pp. 591-598. (doi:10.1109/OCEANSE.2005.1511781).

Record type: Conference or Workshop Item (Paper)


A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed as the basis of an unrestricted attitude control system suitable for application to Autonomous Underwater Vehicles (AUVs). The coupled dynamic equations of a CMG actuated underwater robot are derived, taking into account interactions with the fluid environment. A nonlinear feedback control law is developed based on energy considerations of the coupled system. Singularities, redundancy and motion are discussed in the context of CMGs and a mathematical escapability condition is developed based on the differential geometry of motion. A geometric study of a CMG pyramid's singularities forms the basis of a global steering law that guarantees real-time singularity avoidance whilst maintaining exactness in some constrained workspace. The practical design considerations of a CMG pyramid developed for a laboratory scale underwater robot are discussed. Finally the results of practical experiments using the CMG pyramid are presented to demonstrate the steering and control performance of the system.

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Published date: 2005
Venue - Dates: Oceans '05 Conference, 2005-06-20 - 2005-06-23
Keywords: attitude control, differential geometry, hydraulic actuators, nonlinear control systems, oceanographic techniques, underwater vehicles


Local EPrints ID: 23349
ISBN: 0780391039
PURE UUID: a2c2415e-95ea-4b5e-b6c8-b7db497f3577
ORCID for Stephen R. Turnock: ORCID iD

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Date deposited: 24 Mar 2006
Last modified: 17 Jul 2017 16:17

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Author: Blair Thornton
Author: Tamaki Ura
Author: Yoshiake Nose

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