| Issue |
Mechanics & Industry
Volume 21, Number 5, 2020
Scientific challenges and industrial applications in mechanical engineering
|
|
|---|---|---|
| Article Number | 512 | |
| Number of page(s) | 16 | |
| DOI | https://doi.org/10.1051/meca/2020037 | |
| Published online | 11 August 2020 | |
Regular Article
Design and control of a low-cost autonomous profiling float
1
ENSTA-Bretagne, Lab-STICC,
2 rue François Verny,
29806
Brest, France
2
ENSTA-Bretagne, Institut de Recherche Dupuy de Lôme (IRDL),
2 rue François Verny,
29806
Brest, France
3
Univ. Brest, CNRS, IRD, Ifremer, Laboratoire d’Océanographie Physique et Spatiale (LOPS), IUEM,
Brest, France
* e-mail: thomas.le mezo@ensta-bretagne.org
Received:
12
October
2019
Accepted:
28
April
2020
This paper presents the development made around the SeaBot, a new low-cost profiling float design for shallow water. We introduce a simplified dynamical model of the float and propose a state feedback depth controller coupled with an Extended Kalman Filter (EKF) to estimate model parameters. We show experimental results of the depth control that validate the model and the controller. We finally propose a loop design method to build low-cost floats by highlighting key design choices along with design rules.
Key words: Float / state feedback / depth control / low-cost design / Extended Kalman Filter
© T. Le Mézo et al., published by EDP Sciences 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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