Modelling and Adaptive Control of an Underwater Vehicle System: A Multibody System Approach

2008 ◽  
pp. 105-116
Author(s):  
Nguyen Quang Hoang ◽  
Edwin Kreuzer
Keyword(s):  
Adaptive Control ◽  
System Approach ◽  
Multibody System ◽  
Underwater Vehicle ◽  
System A ◽  
Vehicle System

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

scholarly journals Design of Automatic Operated Modular Underwater Vehicle System for Marine Ranch BreedingDesign of Automatic Operated Modular Underwater Vehicle System for Marine Ranch Breeding

2021 ◽  
Author(s):  
ZhongRen Zhang ◽  
FengBao Xu ◽  
PeiJun Li ◽  
XinBao Wang ◽  
FuXiang Liu ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Marine Resources ◽  
Main Body ◽  
Robot System ◽  
Vehicle System ◽  
The World ◽  
Development And Utilization ◽  
Dead Fish ◽  
Root Module

Abstract As terrestrial resources gradually cannot meet people's needs, Countries around the world gradually increase the development and utilization of marine resources. The emergence of marine ranching overcomes many disadvantages of traditional fishery, but there is still a distance from unattended intelligent marine ranch. In this paper, designed a kind of unattended modular underwater robot system which used in marine ranch, including the main body for cage monitoring, the robot module for cleaning and repairing of net clothes and recycling of dead fish, while designed a underwater interfacing apparatus for the main body and root module,This paper introduces the underwater vehicles system of marine ranching, and designs the main body and working module in detail. This paper simply describes the interfacing process of the underwater workstation with the main body and modules.The research results of this paper compensate for the gaps in marine ranch engineering equipment and technology, and meantime proposed an underwater vehicle for cage repairing and dead fish recycling, which uses modular ideas, it can reduces costs and this paper strongly promotes the development of intelligence and automation level of marine ranching.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle

2009 ◽  
pp. 395-405 ◽  
Author(s):  
Conor McGann ◽  
Frédéric Py ◽  
Kanna Rajan ◽  
John Ryan ◽  
Hans Thomas ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Preliminary Results ◽  
Model Based

Expert System Approach of Industrial Process Adaptive Control

1988 ◽  
Vol 21 (10) ◽  
pp. 57-61 ◽  
Author(s):  
Zhixiang Zhu ◽  
Guanzhong Dai
Keyword(s):  
Adaptive Control ◽  
Expert System ◽  
System Approach ◽  
Industrial Process
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