Feedback Heading Control for Autonomous Underwater Vehicle Based on Reduced-Order Observer

2020 ◽  
pp. 47-54
Author(s):  
Xiangrong Zhou ◽  
Fengzhen Chen
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Reduced Order ◽  
Heading Control ◽  
Reduced Order Observer

scholarly journals Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Xuliang Yao ◽  
Guangyi Yang ◽  
Yu Peng
Keyword(s):  
Predictive Control ◽  
Attitude Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Accurate Estimation ◽  
State Variables ◽  
Time Model ◽  
Near Surface ◽  
Reduced Order ◽  
Reduced Order Observer

The attitude control and depth tracking issue of autonomous underwater vehicle (AUV) are addressed in this paper. By introducing a nonsingular coordinate transformation, a novel nonlinear reduced-order observer (NROO) is presented to achieve an accurate estimation of AUV’s state variables. A discrete-time model predictive control with nonlinear model online linearization (MPC-NMOL) is applied to enhance the attitude control and depth tracking performance of AUV considering the wave disturbance near surface. In AUV longitudinal control simulation, the comparisons have been presented between NROO and full-order observer (FOO) and also between MPC-NMOL and traditional NMPC. Simulation results show the effectiveness of the proposed method.

scholarly journals Design, Analysis and Development of Autonomous Underwater vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 3805-3810
Keyword(s):  
Object Recognition ◽  
Motion Control ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Heading Control ◽  
Underwater Object ◽  
Institute Of Technology

Autonomous Underwater Vehicles (AUV) are slowly operated unmanned robots which Capable of propelling on pre-defined mission tracks independently under the water surface and are frequently used for oceanographic exploration, bathymetric surveys and defense applications. This AUV can perform underwater object recognition and obstacle avoidance with the use of appropriate sensors and devices. Vidyut is a miniature AUV developed at Sri Sairam Institute of Technology. The vehicle is equipped with six thrusters which allow for motion control in 6 Dof and has a non-conventional single hull heavy bottom hydrodynamic design. This paper discusses different aspects of the vehicle's unique design. The output of the Arduino Uno controller has been discussed for continuous depth and heading control.

scholarly journals Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection

2017 ◽  
Vol 14 (3) ◽  
pp. 172988141665817 ◽  
Author(s):  
Amjad Khan ◽  
Syed Saad Azhar Ali ◽  
Fabrice Meriaudeau ◽  
Aamir Saeed Malik ◽  
Lim Sheng Soon ◽  
...  
Keyword(s):  
Visual Feedback ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Heading Control ◽  
Pipeline Corrosion

scholarly journals Soft-Switching Proximate Time Optimal Heading Control for Underactuated Autonomous Underwater Vehicle

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 143233-143249 ◽  
Author(s):  
An Li ◽  
Li Ye ◽  
Jiang Yanqing ◽  
Li Yueming ◽  
Cao Jian ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Soft Switching ◽  
Heading Control ◽  
Time Optimal

Proximate time optimal for the heading control of underactuated autonomous underwater vehicle with input nonlinearities

2020 ◽  
Vol 95 ◽  
pp. 102002 ◽  
Author(s):  
Li An ◽  
Ye Li ◽  
Jian Cao ◽  
Yanqing Jiang ◽  
Jiayu He ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Heading Control ◽  
Time Optimal

scholarly journals Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification

2017 ◽  
Vol 35 (3) ◽  
pp. 396-415 ◽  
Author(s):  
Kantapon Tanakitkorn ◽  
Philip A. Wilson ◽  
Stephen R. Turnock ◽  
Alexander B. Phillips
Keyword(s):  
Experimental Verification ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Heading Control
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