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Design and control of a low-cost autonomous profiling float

Thomas Le Mézo 1, 2, * Gilles Le Maillot 2 Thierry Ropert 2 Luc Jaulin 1 Aurélien Ponte Benoit Zerr 1
* Corresponding author
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
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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Submitted on : Thursday, August 13, 2020 - 9:38:25 PM
Last modification on : Monday, April 4, 2022 - 9:28:30 AM


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Thomas Le Mézo, Gilles Le Maillot, Thierry Ropert, Luc Jaulin, Aurélien Ponte, et al.. Design and control of a low-cost autonomous profiling float. Mechanics & Industry, EDP Sciences, 2020, 21 (5), pp.512. ⟨10.1051/meca/2020037⟩. ⟨hal-02915254⟩



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