FN Archimer Export Format PT J TI Design and control of a low-cost autonomous profiling float BT AF Le Mézo, Thomas Le Maillot, Gilles Ropert, Thierry Jaulin, Luc Ponte, Aurelien Zerr, Benoît AS 1:1;2:1;3:2;4:1;5:3;6:1; FF 1:;2:;3:;4:;5:PDG-ODE-LOPS-OH;6:; C1 ENSTA-Bretagne, Lab-STICC, 2 rue François Verny, 29806 Brest, France ENSTA-Bretagne, Institut de Recherche Dupuy de Lôme (IRDL), 2 rue François Verny, 29806 Brest, France Univ. Brest, CNRS, IRD, Ifremer, Laboratoire d’Océanographie Physique et Spatiale (LOPS), IUEM, Brest, France C2 ENSTA BRETAGNE, FRANCE ENSTA BRETAGNE, FRANCE IFREMER, FRANCE SI BREST SE PDG-ODE-LOPS-OH UM LOPS IN WOS Ifremer UMR copubli-france IF 0.913 TC 6 UR https://archimer.ifremer.fr/doc/00646/75805/76735.pdf LA English DT Article DE ;Float;state feedback;depth control;low-cost design;Extended Kalman Filter AB 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. PY 2020 PD AUG SO Mechanics & Industry SN 2257-7777 PU EDP Sciences VL 21 IS 5 UT 000570863100001 DI 10.1051/meca/2020037 ID 75805 ER EF