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Omnidirectional Control of an Underwater Vehicle Equipped with a Collective and Cyclic Pitch Propeller
conference contribution
posted on 2023-05-23, 08:10 authored by Hung NguyenHung Nguyen, Niyomka, P, Jonathan BinnsJonathan Binns, Neil Bose, Le, KDThis 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.
Funding
University of Tasmania
History
Publication title
Proceedings of the Second Vietnam Conference on Control and AutomationEditors
Cat, P.T.Pagination
771-780ISBN
978-604-911-517-2Department/School
Australian Maritime CollegePublisher
University of Da NangPlace of publication
Da Nang, VietnamEvent title
The Second Vietnam Conference on Control and AutomationEvent Venue
Da Nang, VietnamDate of Event (Start Date)
2013-11-22Date of Event (End Date)
2013-11-23Rights statement
Copyright 2013 The AuthorRepository Status
- Restricted