Model Identification and Control of a Buoyancy Change Device

• Type: Article in International Scientific Journal
• Date: 2023

Authors

João Pedro Falcão Carneiro (Author) FEUP; Pinto, JB (Author) Other; Fernando Gomes Almeida (Author) FEUP; Nuno Cruz (Author) FEUP

Journal

Title: Actuators

Vol. 22

Final page: 180

Publisher: MDPI

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 2 Citations

Other information

Authenticus ID: P-00Y-8VE

DOI: 10.3390/act12040180

Abstract (EN): There are several compelling reasons for exploring the ocean, for instance, the potential for accessing valuable resources, such as energy and minerals; establishing sovereignty; and addressing environmental issues. As a result, the scientific community has increasingly focused on the use of autonomous underwater vehicles (AUVs) for ocean exploration. Recent research has demonstrated that buoyancy change modules can greatly enhance the energy efficiency of these vehicles. However, the literature is scarce regarding the dynamic models of the vertical motion of buoyancy change modules. It is therefore difficult to develop adequate depth controllers, as this is a very complex task to perform in situ. The focus of this paper is to develop simplified linear models for a buoyancy change module that was previously designed by the authors. These models are experimentally identified and used to fine-tune depth controllers. Experimental results demonstrate that the controllers perform well, achieving a virtual zero steady-state error with satisfactory dynamic characteristics.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 15