DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE

Y. Han, R. A. de Callafon, J. Cortés, J. Jaffe

2010

Abstract

This paper analyzes the dynamic properties of a submersible drogue for which buoyancy control is implemented by a flexible membrane and pneumatic actuation. It is shown how a simple on/off switching algorithm tuned on the basis of depth measurements and an estimated depth velocity can be used to achieve accurate depth control with small fluctuations. The switching control makes the pneumatically controlled drogue an inherent hybrid system and conditions for contraction and stability are given for the proposed switching control algorithm. Numerical evaluation of the conditions for stability and experimental data of the switching control implemented on a pneumatic submersible drogue further demonstrates the soundness of the proposed switching control algorithm.

Paper Citation

in Harvard Style

Han Y., A. de Callafon R., Cortés J. and Jaffe J. (2010). DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 89-97. DOI: 10.5220/0002953800890097

in Bibtex Style

@conference{icinco10,
author={Y. Han and R. A. de Callafon and J. Cortés and J. Jaffe},
title={DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={89-97},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002953800890097},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC MODELING AND PNEUMATIC SWITCHING CONTROL OF A SUBMERSIBLE DROGUE
SN - 978-989-8425-01-0
AU - Han Y.
AU - A. de Callafon R.
AU - Cortés J.
AU - Jaffe J.
PY - 2010
SP - 89
EP - 97
DO - 10.5220/0002953800890097