Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros

The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique f...

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Bibliographic Details
Published in:IEEE journal of oceanic engineering 2007-07, Vol.32 (3), p.565-583
Main Authors: Thornton, B., Ura, T., Nose, Y., Turnock, S.
Format: Article
Language:English
Subjects:
Actuation
Attitude control
Automotive components
Control moment gyro (CMG)
Dynamic tests
Dynamical systems
Dynamics
Gyros
Intelligent robots
Intelligent sensors
internal actuation
internal kinematic underwater robot actuation (IKURA)
Kinematics
Laboratories
Marine
Nose
Oceans
Robots
Surges
underwater robot
Underwater robots
Underwater vehicles
unrestricted attitude control
Vehicle dynamics
Zero-G
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Description
Summary:The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.
ISSN:0364-9059
1558-1691
DOI:10.1109/JOE.2007.899274