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Forward speed control of a pulsed-jet soft-bodied underwater vehicle

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
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. 22 - 26 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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More information

Published date: 23 September 2013
Venue - Dates: OCEANS, San Diego, United States, 2013-09-22 - 2013-09-26
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
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

Catalogue record

Date deposited: 14 Jun 2016 16:58
Last modified: 08 Jan 2022 00:49

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Contributors

Author: Michele Giorelli
Author: Francesco Giorgio-Serchi ORCID iD
Author: Cecilia Laschi

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