dc.contributor.author | Orucevic, Amer | |
dc.contributor.author | Wrzos-Kaminska, Marianna | |
dc.contributor.author | Lysø, Mads Erlend Bøe | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2024-09-13T11:20:59Z | |
dc.date.available | 2024-09-13T11:20:59Z | |
dc.date.created | 2024-04-09T14:51:24Z | |
dc.date.issued | 2024 | |
dc.identifier.citation | Control Engineering Practice. 2024, 147, 1-14. | en_US |
dc.identifier.issn | 0967-0661 | |
dc.identifier.uri | https://hdl.handle.net/11250/3152130 | |
dc.description.abstract | This paper presents the development of controllers to automatically align an underwater snake robot (USR) with a wake that forms behind a bluff body, while swimming at a desired distance to the object. The low-level controllers stabilize the joint motion of the USR to a swimming gait while achieving a desired orientation and tangential velocity. The high-level controllers are designed to select references for the orientation and tangential velocity to achieve a desired placement and alignment. The control system is analyzed and proven uniformly practically asymptotically stable (UPAS). The proposed control method is validated through high-fidelity simulations that capture the intricate interaction between the USR and the surrounding fluid, and is seen to perform well in these simulations. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Automatic alignment of underwater snake robots operating in wakes of bluff bodies | en_US |
dc.title.alternative | Automatic alignment of underwater snake robots operating in wakes of bluff bodies | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 1-14 | en_US |
dc.source.volume | 147 | en_US |
dc.source.journal | Control Engineering Practice | en_US |
dc.identifier.doi | 10.1016/j.conengprac.2024.105904 | |
dc.identifier.cristin | 2260348 | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |