Combining Moving Mass Actuators and Manoeuvring Models for Underwater Vehicles: A Lagrangian Approach
In this paper, we present a Newton-Euler formulation of the equations of motion for underwater vehicles with an interntal moving mass actuator. Furthermore, the moving mass dynamics are expressed as an extension to the manoeuvring model for underwater vehicles, originally introduced by Fossen (1991). The influence of the moving mass is described in body-frame and included as states in both an additional kinematic equation and as part of the coupled rigid-body kinetics of the underwater vehicle. The Coriolis-centripetal effects are derived from Kirchhoff's equations and the hydrostatics are derived using first principals. The proposed Newton-Euler model is validated through simulation and compared with the traditional Hamiltonian internal moving mass actuator formulation.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Development of a Modular and Submersible Soft Robotic Arm and Corresponding Learned Kinematics Models
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscil…
FrictionOn Improved Commutation for Moving-Magnet Planar Actuators
The demand for high-precision and high-throughput motion control systems has increased significantly in recent years. The use of moving-magnet planar actuators (MMPAs) is gaining popularity due to their advantageous char…
PositionLearning Underwater Active Perception in Simulation
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. Indeed, they have a significant impact on the visibility, which also affects robotic …
Autonomous Underwater Vehicle: Electronics and Software Implementation of the Proton AUV
The paper deals with the software and the electronics unit for an autonomous underwater vehicle. The implementation in the electronics unit is the connection and communication between SBC, pixhawk controller and other se…
object-detectionObject DetectionUIEC^2-Net: CNN-based Underwater Image Enhancement Using Two Color Space
Underwater image enhancement has attracted much attention due to the rise of marine resource development in recent years. Benefit from the powerful representation capabilities of Convolution Neural Networks(CNNs), multip…
DenoisingImage Enhancement