Modeling & Control of A Novel Amphibious Platform with Stowable Cycloidal Propellers
Abstract
SOW The objective of this work is to develop and validate an efficient digital twin model and control scheme of the novel amphibious vehicle with cycloidal propellers and tunnel thruster. The model takes into consideration the influence of free surface, shallow water, varying submergence, and free surface waves. The approach is to use a grey box system identification approach that strategically combines theory and data from model-scale experiments to predict the 6-DOF motion of the vehicle. The control algorithm considers the 360 degrees thrust vectoring capability of individual cycloidal propellers, as well as the system response of the vehicle with four cycloidal propellers and a tunnel thruster. The outcome is a revolutionary amphibious platform demonstrator prototype capable of efficient, agile, fast and robust mobility in both land and sea, including across the surf zone.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 06, 2021
- Source ID
- N000142112149
Entities
People
- Yin Lu Young
Organizations
- Board of Regents of the University of Michigan
- Office of Naval Research
- United States Navy