University of Tasmania
Browse

File(s) under permanent embargo

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, KD
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.

Funding

University of Tasmania

History

Publication title

Proceedings of the Second Vietnam Conference on Control and Automation

Editors

Cat, P.T.

Pagination

771-780

ISBN

978-604-911-517-2

Department/School

Australian Maritime College

Publisher

University of Da Nang

Place of publication

Da Nang, Vietnam

Event title

The Second Vietnam Conference on Control and Automation

Event Venue

Da Nang, Vietnam

Date of Event (Start Date)

2013-11-22

Date of Event (End Date)

2013-11-23

Rights statement

Copyright 2013 The Author

Repository Status

  • Restricted

Socio-economic Objectives

Water transport not elsewhere classified

Usage metrics

    University Of Tasmania

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC