This letter presents the depth control of an autonomous micro diving agent called autonomous diving agent (ADA). ADA consists of off-The-shelf components and features open-source hardware and firmware. It can be deployed as a testbed for depth controllers, as well as a mobile sensor platform for research or in industrial tanks.We introduce a control law that is based on the feedback linearization method and enhanced by an adaptive fuzzy algorithm to cope with modeling inaccuracies. The proposed depth controller is computationally light enough to run on ADAs embedded hardware. In experiments performed in a wave tank, the adaptive fuzzy scheme shows the ability to deal with both depth regulation and depth profile tracking. ADA is even able to hold on to dynamic isobars despite external disturbances. We demonstrate that under the influence of waves, ADA describes orbital motions similar to water particles.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Design and adaptive depth control of a micro diving agent


    Beteiligte:

    Erscheinungsdatum :

    2017-06-09


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    600 / 629



    A study of diving depth on deep-diving submersible vehicle

    Liang, C.C. / Teng, T.L. / Lai, W.H. | Tema Archiv | 1998


    Self-adaptive diving pressure reduction method based on air circulation diving

    ZHAO MING / ZHOU CHAO / LU GANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    DIVING DEPTH STABILIZER WITH HYDRODYNAMIC WING DRIVE BOOSTER

    GUSEV ALEKSANDR LEONIDOVICH / LEVSHONKOV NIKITA VIKTOROVICH / SHARAFUTDINOVA RENATA AJDAROVNA | Europäisches Patentamt | 2021

    Freier Zugriff

    Diving and diving apparatus

    Engineering Index Backfile | 1916


    Floating type wind power platform with adjustable diving depth

    HU JINGBO / GU SAIHUA | Europäisches Patentamt | 2023

    Freier Zugriff