Sensor-based motion control of autonomous underwater vehicles, part II: robust motion control strategies

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.

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Adaptive Dynamic Programming Based Motion Control of Autonomous Underwater Vehicles

2018 5th International Conference on Control, Decision and Information Technologies (CoDIT) ◽

10.1109/codit.2018.8394934 ◽

2018 ◽

Author(s):

Siddhant Vibhute

Keyword(s):

Dynamic Programming ◽

Motion Control ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Adaptive Dynamic Programming ◽

Adaptive Dynamic

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

2014 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2014.6907822 ◽

2014 ◽

Cited By ~ 4

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

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Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles

Sensors ◽

10.3390/s21020476 ◽

2021 ◽

Vol 21 (2) ◽

pp. 476

Author(s):

Fuqiang Liu ◽

Yan Long ◽

Jun Luo ◽

Huayan Pu ◽

Chaoqun Duan ◽

...

Keyword(s):

Attitude Control ◽

Fault Location ◽

Control Strategies ◽

Autonomous Underwater Vehicles ◽

Fault Localization ◽

Underwater Vehicles ◽

Element Analysis ◽

Fault Features ◽

Fault Parameters ◽

Actuator Control

To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.

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Thruster Interactions on Autonomous Underwater Vehicles

Volume 4: Ocean Engineering; Ocean Renewable Energy; Ocean Space Utilization, Parts A and B ◽

10.1115/omae2009-79785 ◽

2009 ◽

Author(s):

Alistair R. Palmer ◽

Grant E. Hearn ◽

Peter Stevenson

Keyword(s):

Hydrodynamic Interaction ◽

Control Strategies ◽

Dynamic Performance ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Interaction Effects ◽

Dynamic Positioning ◽

Surface Vessels ◽

Control Devices ◽

And Control

Autonomous underwater vehicles are a developing technology capable of undertaking a wide variety of different tasks. The development of these vehicles is aided by the use of simulations of their performance. These simulations require accurate modelling of the propulsion and control devices employed to calculate the response of a vehicle to different situations and control strategies. Simulations of underwater vehicles tend to include models of the dynamic performance of the thrusters employed, however, the simulations neglect some of the hydrodynamic interaction effects. These interaction effects include thruster–hull and thruster–thruster interactions similar to those encountered on dynamic positioning surface vessels. This paper assesses these effects for autonomous underwater vehicles and, where appropriate, suggests models for use in simulations.

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Model-Based Control and Stability Analysis of Underactuated Autonomous Underwater Vehicles Via Singular Perturbations

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4046880 ◽

2020 ◽

Vol 15 (6) ◽

Author(s):

Ming Lei ◽

Ye Li

Keyword(s):

Stability Analysis ◽

Time Scale ◽

Control Strategies ◽

Autonomous Underwater Vehicles ◽

Path Following ◽

Underwater Vehicles ◽

Time Scale Separation ◽

Independent Analysis ◽

Effective Performance ◽

Analysis Of Dynamics

Abstract This paper presents the control design and stability analysis for path-following of underactuated autonomous underwater vehicles (AUVs), with dynamics restricted to the horizontal plane. As illustration, the time-scale separation caused by different rates of numerous variables is exploited via a singular perturbation model formulation. On the basis of that, a time-scale decomposition method is used to decompose the full system into three-time scale subsystems. The three-time scale structure allows independent analysis of dynamics in each time scale. Therefore, control strategies are designed in each subsystem separately, leading to a reduction of control complexity and a relatively simple control law. This paper also demonstrates the asymptotic stability of the closed-loop system with a composite Lyapunov function candidate and provides alternative, simple but generic mathematical bounds on the singularly perturbed parameters. Finally, the simulation results are presented to illustrate the effective performance of proposed controller.

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