Mechanical Engineering Commons^™

Effective Turning Motion Control Of Internally Actuated Autonomous Underwater Vehicles, Saeedeh Ziaeefard, Brian R. Page, Anthony Pinar, Nina Mahmoudian

Michigan Tech Publications

This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech’s custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE’s design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between …