Jorge Cortés


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


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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