A Quadrotor-like Unmanned Underwater Vehicle

被引：0
|
作者：
Bian, Jingwei [1 ]
Xiang, Ji [1 ]
Liang, Huilin [1 ]
机构：
[1] Zhejiang Univ, Coll Elect Engn, Hangzhou 310027, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
Quadrotor-like; Unmanned Underwater Vehicle; Thrusters; Mathematical Model; Controller; SLIDING-MODE CONTROL; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A quadrotor-like unmanned underwater vehicle, named QUUV, is presented in this paper. It has four thrusters, which can be inclined configuration. It is designed and implemented based on hydrodynamic optimization. The mathematical model is built and the difference with ordinary underwater vehicles is discussed. A sliding mode controller is adopted to control the underwater vehicle. The results show that the new kind of underwater vehicle will be a powerful tool for ocean research.
引用
收藏
页码：6360 / 6365
页数：6
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