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Motion Control of Three-Rotor Unmanned Underwater Vehicle

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Mechatronics 2017 (MECHATRONICS 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 644))

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Abstract

This paper presents the design of a three-rotor Unmanned Underwater Vehicle (UUV) and generating nonlinear mathematical model. The main propose of this design is to adapt to the UUV effective propellers. For this purpose, three-rotor model is aligned to the Center of Gravity (CoG) and UUV can move in three dimensional space. The derived mathematical model includes the kinematics, dynamics and hydrodynamics effects acting on the body. In order to achieve 6-DoF motion control, three-layered control structure is designed and generalized linear/angular positions and velocities are examined. In addition, three dimensional circular trajectory tracking is performed to achieve effective motion responses.

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Authors and Affiliations

  1. Mechatronics Engineering Department, Technology Faculty, Firat University, Elazig, Turkey

    Cafer Bal, Deniz Korkmaz & Mustafa Can Bingol

Authors
  1. Cafer Bal
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  2. Deniz Korkmaz
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  3. Mustafa Can Bingol
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Corresponding author

Correspondence to Deniz Korkmaz .

Editor information

Editors and Affiliations

  1. Faculty of Mechanical Engineering, Institute of Mathematics, Brno University of Technology, Brno, Czech Republic

    Tomáš Březina

  2. Faculty of Mechatronics, Institute of Metrology and Biomedical Engineering, Warsaw University of Technology, Warsaw, Poland

    Ryszard Jabłoński

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Bal, C., Korkmaz, D., Bingol, M.C. (2018). Motion Control of Three-Rotor Unmanned Underwater Vehicle. In: Březina, T., Jabłoński, R. (eds) Mechatronics 2017. MECHATRONICS 2017. Advances in Intelligent Systems and Computing, vol 644. Springer, Cham. https://doi.org/10.1007/978-3-319-65960-2_85

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  • DOI: https://doi.org/10.1007/978-3-319-65960-2_85

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65959-6

  • Online ISBN: 978-3-319-65960-2

  • eBook Packages: EngineeringEngineering (R0)

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