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, 2) , Aurélien Ponte (3, 4) , Benoit Zerr (1, 2)

1 Lab-STICC_ENSTAB_CID_PRASYS
2 ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
3 LOPS - Laboratoire d'Océanographie Physique et Spatiale
4 IFREMER - Institut Français de Recherche pour l'Exploitation de la Mer

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.

Mots clés: Extended Kalman Filter; Float; State feedback; Depth control; Low-cost design

Domaines: Automatique / Robotique; Robotique [cs.RO]

Thomas Le Mézo, Gilles Le Maillot, Thierry Ropert, Luc Jaulin, Aurélien Ponte, et al.. Design and control of a low-cost autonomous profiling float. 24è Congrès Français de Mécanique, Aug 2019, Brest, France. ⟨hal-02276589⟩