Experimental Depth Positioning Control for a Spherical Underwater Robot Vehicle (URV)

Abstract

Recently, position control of URVs has been a challenge due to the buoyancy forces, and high current load of ocean. In this paper, variable ballast tank (VBT) of a spherical URV is developed as vertical motion actuator, and the problem of internal dynamic forces which caused by empty space inside the VBT has been discussed. In order to test the stability of the proposed system, the experimental model of URV has been tested in 1-5 meter underwater depth.