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Omnidirectional Control of an Underwater Vehicle Equipped with a Collective and Cyclic Pitch Propeller

Citation

Nguyen, HD and Niyomka, P and Binns, JR and Bose, N and Le, KD, Omnidirectional Control of an Underwater Vehicle Equipped with a Collective and Cyclic Pitch Propeller, Proceedings of the Second Vietnam Conference on Control and Automation, 22 - 23 November 2013, Da Nang, Vietnam, pp. 771-780. ISBN 978-604-911-517-2 (2013) [Refereed Conference Paper]


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Copyright 2013 The Author

Official URL: https://sites.google.com/site/vcca2013

Abstract

This paper presents omnidirectional control capability of a new type of underwater vehicle equipped with a collective and cyclic pitch propeller. A conventional propeller generates axial thrust only, while a collective and cyclic propeller can generate axial and side thrusts. The axial and side thrusts compose a total vector thrust that can be used to control the underwater vehicle in all directions. In this paper a mathematical model for the underwater vehicle equipped with a collective and cyclic propeller is derived by theory and used to verify omnidirectional controls by numerical simulation, including turning circle test, zigzag tests, yaw control, depth control, speed control and trajectory tracking control. Keywords: omnidirectional control, underwater vehicle, collective and cyclic pitch propeller.

Item Details

Item Type:Refereed Conference Paper
Keywords:Underwater vehicle, collective and cyclic pitch propeller, modelling and simulation
Research Division:Engineering
Research Group:Maritime Engineering
Research Field:Special Vehicles
Objective Division:Transport
Objective Group:Water Transport
Objective Field:Water Transport not elsewhere classified
Author:Nguyen, HD (Dr Hung Nguyen)
Author:Niyomka, P (Mr Poowadol Niyomka)
Author:Binns, JR (Associate Professor Jonathan Binns)
Author:Bose, N (Professor Neil Bose)
Author:Le, KD (Mr Khoa Le)
ID Code:88228
Year Published:2013
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2014-01-21
Last Modified:2017-10-04
Downloads:3 View Download Statistics

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