An Experimental Approach towards Motion Modeling and Control of a Vehicle Transiting a Non-Newtonian Environment

• Published in: Fractal and fractional Vol. 5; no. 3; p. 104
• Main Authors: Birs, Isabela, Muresan, Cristina, Prodan, Ovidiu, Folea, Silviu, Ionescu, Clara
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.09.2021
• Subjects: Algorithms; Calculus; Control methods; Design specifications; Environment models; fractional order modeling and control; Manufacturing; Mathematical models; non-Newtonian dynamics; Non-Newtonian fluids; Optimization; Process controls; Robots; Robust control; submerged position control; targeted drug delivery; Veins & arteries
• ISSN: 2504-3110; 2504-3110
• DOI: 10.3390/fractalfract5030104

The present work tackles the modeling of the motion dynamics of an object submerged in a non-Newtonian environment. The mathematical model is developed starting from already known Newtonian interactions between the submersible and the fluid. The obtained model is therefore altered through optimization techniques to describe non-Newtonian interactions on the motion of the vehicle by using real-life data regarding non-Newtonian influences on submerged thrusting. For the obtained non-Newtonian fractional order process model, a fractional order control approach is employed to sway the submerged object’s position inside the viscoelastic environment. The presented modeling and control methodologies are solidified by real-life experimental data used to validate the veracity of the presented concepts. The robustness of the control strategy is experimentally validated on both Newtonian and non-Newtonian environments.