Forward speed control of a pulsed-jet soft-bodied underwater vehicle
Forward speed control of a pulsed-jet soft-bodied underwater vehicle
This paper reports on the development of the control for a new class of soft underwater vehicles. These vehicles exploit their soft-bodied nature to produce thrust by cyclically ingesting and expelling ambient fluid. A forward speed control based on the linearised dynamics of the robot is design. The control succeeds at dealing with the discontinuous thrust by accounting for the shape-change driven actuation.
Giorelli, Michele
bc69c9c3-a13f-4e68-9df2-44ccecb6b4b4
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a
23 September 2013
Giorelli, Michele
bc69c9c3-a13f-4e68-9df2-44ccecb6b4b4
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a
Giorelli, Michele, Giorgio-Serchi, Francesco and Laschi, Cecilia
(2013)
Forward speed control of a pulsed-jet soft-bodied underwater vehicle.
OCEANS, San Diego, United States.
23 - 27 Sep 2013.
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper reports on the development of the control for a new class of soft underwater vehicles. These vehicles exploit their soft-bodied nature to produce thrust by cyclically ingesting and expelling ambient fluid. A forward speed control based on the linearised dynamics of the robot is design. The control succeeds at dealing with the discontinuous thrust by accounting for the shape-change driven actuation.
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Published date: 23 September 2013
Venue - Dates:
OCEANS, San Diego, United States, 2013-09-23 - 2013-09-27
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 395570
URI: http://eprints.soton.ac.uk/id/eprint/395570
PURE UUID: caff476c-a91d-43bf-b4a4-07252e413502
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Date deposited: 14 Jun 2016 16:58
Last modified: 15 Mar 2024 00:43
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Contributors
Author:
Michele Giorelli
Author:
Francesco Giorgio-Serchi
Author:
Cecilia Laschi
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