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Zero-G class underwater robots: unrestricted attitude control using control moment gyros

Zero-G class underwater robots: unrestricted attitude control using control moment gyros
Zero-G class underwater robots: unrestricted attitude control using control moment gyros
The “Zero-G” is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.
control moment gyro (cmg), internal kinematicunderwater robot actuation (ikura), internal actuation, underwater robot, unrestricted attitude control, zero-g
0364-9059
565-583
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Nose, Yoshiaki
0476398e-6755-4a4c-a434-86d89d641f5b
Turnock, Stephen
b7552259-948e-4f7a-a124-eeb19d9e4145
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Nose, Yoshiaki
0476398e-6755-4a4c-a434-86d89d641f5b
Turnock, Stephen
b7552259-948e-4f7a-a124-eeb19d9e4145

Thornton, Blair, Ura, Tamaki, Nose, Yoshiaki and Turnock, Stephen (2007) Zero-G class underwater robots: unrestricted attitude control using control moment gyros. IEEE Journal of Oceanic Engineering, 32 (3), 565-583. (doi:10.1109/JOE.2007.899274).

Record type: Article

Abstract

The “Zero-G” is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.

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More information

Published date: July 2007
Keywords: control moment gyro (cmg), internal kinematicunderwater robot actuation (ikura), internal actuation, underwater robot, unrestricted attitude control, zero-g
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 400023
URI: http://eprints.soton.ac.uk/id/eprint/400023
ISSN: 0364-9059
PURE UUID: a3d4e2fe-93b4-49e0-98e5-c4fd62f192bb

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Date deposited: 12 Sep 2016 15:57
Last modified: 08 Jan 2022 18:41

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Contributors

Author: Blair Thornton
Author: Tamaki Ura
Author: Yoshiaki Nose
Author: Stephen Turnock

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