An Innovative Pose Control Mechanism for a Small Rudderless Underwater Vehicle

Current and conventional pose (position orientation) control of a small underwater vehicle is achieved by using rudders (yaw motion control) elevators (pitch control), but these suffer from non-linear, indirect complex issues. This paper proposes an innovative mechanism for vehicles. The mass shifter designed fabricated to pitch yaw with single propeller only. center the altered moving pair counterweights on fixed tracks. are controlling position counterweight pairs. proposed system designed, tested in real environment proof-of-concept. result shows simpler, more efficient effective than technology.