Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Dynamic modeling and pneumatic switching control of a submersible drogue
Y. Han, R. A. de Callafon, J. Cortés, J. Jaffe
J. Cortés
Proceedings of the International Conference on Informatics in Control,
Automation and Robotics, Funchal, Madeira, Portugal, 2010, vol 2, pp. 89-97
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 straightforward on/off
switching algorithm tuned on the basis of depth
measurements and an estimated depth velocity profile
can be used to achieve accurate depth control with
small fluctuations. The switching control makes the
pneumatically controlled drogue an inherent hybrid
system and a formal proof of contraction and
stability is given for the proposed control
algorithm. Experimental data of the switching
control implemented on a pneumatic submersible
drogue further strengthens the theoretical results.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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