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http://dx.doi.org/10.5302/J.ICROS.2013.13.9015

Roll/Pitch Attitude Control of an Underwater Robot using Ballast Tanks  

Choi, Sunghee (Department of Electrical Engineering, Pusan National University)
Do, Jinhyung (Department of Electrical Engineering, Pusan National University)
Lee, Jangmyung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.8, 2013 , pp. 688-693 More about this Journal
Abstract
This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.
Keywords
underwater robot; ROV; AUV; ballast tank; underwater attitude control;
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Times Cited By KSCI : 5  (Citation Analysis)
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