Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

2017 ◽  
Vol 89 (1-2) ◽  
pp. 175-189 ◽  
Author(s):  
Saeedeh Ziaeefard ◽  
Brian R. Page ◽  
Anthony J. Pinar ◽  
Nina Mahmoudian
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Turning Motion

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.

Motion control for autonomous underwater vehicles: A robust model — Free approach

2014 ◽  
Author(s):  
George C. Karras ◽  
Charalampos P. Bechlioulis ◽  
Sharad Nagappa ◽  
Narcis Palomeras ◽  
Kostas J. Kyriakopoulos ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Robust Model

Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

2018 ◽  
Author(s):  
Bingheng Wang ◽  
Marko Mihalec ◽  
Yongbin Gong ◽  
Dario Pompili ◽  
Jingang Yi
Keyword(s):  
Motion Control ◽  
Feedback Linearization ◽  
Disturbance Observer ◽  
Model Simulation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Motion Controller ◽  
Unknown Disturbances ◽  
Linearized Model ◽  
Twisting Algorithm

This paper presents a trajectory-tracking method using disturbance observer-based model predictive control (MPC) for small autonomous underwater vehicles (AUV). The goal of the work is to design a robust motion controller for AUVs under the system constraints and unknown disturbances such as hydrodynamics and ocean currents. Super-twisting-algorithm (STA) is employed to design the disturbance observer and its output is used and included in the feedback linearization law to compensate for the disturbances. The control inputs are generated using the MPC design with the nominal linearized model. Simulation results are included to validate the effectiveness of the control design and also compare with the traditional MPC motion control.

Reducing actuator switchings for motion control of autonomous underwater vehicles

2013 ◽  
Author(s):  
Monique Chyba ◽  
Sergio Grammatico ◽  
Van T. Huynh ◽  
John Marriott ◽  
Benedetto Piccoli ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles

NONLINEAR MOTION CONTROL OF MULTIPLE AUTONOMOUS UNDERWATER VEHICLES

2007 ◽  
Vol 40 (17) ◽  
pp. 75-80 ◽  
Author(s):  
Francesco Vanni ◽  
A. Pedro Aguiar ◽  
António Pascoal
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Nonlinear Motion
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