An Experimental Platform for Validating Internal Actuator Control Strategies

Abstract Internal actuators, such as moving mass actuators and reaction wheels, have been proposed as attitude control devices for autonomous underwater vehicles. This paper describes modeling and design of a rnodular, internally actuated autonomous underwater vehicle. The vehicle design allows for a variety of internal actuator modules and external fairings. The base body is a spherical glass pressure housing which contains an internal actuator module, sensors, and an on-board computer. The first actuator module, comprising three reaction wheel actuators, will provide a unique facility for investigating nonlinear spacecraft attitude control as well as underwater vehicle control.