Design and Control of Underwater Robots with Rotating Thrusters

Ali Jebelli (University of Ottawa)
M. C.E. Yagoub (University of Ottawa)
B. S. Dhillon (University of Ottawa)

IAES International Journal of Robotics and Automation (IJRA)
Vol 5, No 4: December 2016

Among other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time.