Design and control of a low-cost autonomous profiling float

Type Article
Date 2020-08
Language English
Author(s) Le Mézo Thomas1, Le Maillot Gilles1, Ropert Thierry2, Jaulin Luc1, Ponte AurelienORCID3, Zerr Benoît1
Affiliation(s) 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
Source Mechanics & Industry (2257-7777) (EDP Sciences), 2020-08 , Vol. 21 , N. 5 , P. 512 (16p.)
DOI 10.1051/meca/2020037
WOS© Times Cited 1
Note Scientific challenges and industrial applications in mechanical engineering www.mechanics-industry.org Philippe Le Grognec (Guest Editor)
Keyword(s) Float, state feedback, depth control, low-cost design, Extended Kalman Filter
Abstract

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.

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