Design of a dead reckoning based motion control system for small autonomous underwater vehicle

2015 ◽  
Author(s):  
Zhenzhong Chu ◽  
Daqi Zhu ◽  
Bing Sun ◽  
Jianduo Nie ◽  
Di Xue
Keyword(s):  
Control System ◽  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Dead Reckoning ◽  
Underwater Vehicle ◽  
Motion Control System

scholarly journals Saturation Based Nonlinear FOPD Motion Control Algorithm Design for Autonomous Underwater Vehicle

2019 ◽  
Vol 9 (22) ◽  
pp. 4958 ◽  
Author(s):  
Lichuan Zhang ◽  
Lu Liu ◽  
Shuo Zhang ◽  
Sheng Cao
Keyword(s):  
Control System ◽  
Motion Control ◽  
Simple Structure ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Performance ◽  
Dynamic Control ◽  
Algorithm Design ◽  
Underwater Vehicle ◽  
Motion Control System ◽  
The Stability

The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear fractional-order PD (FOPD) controller is proposed for AUV motion control. The proposed controller is can achieve better dynamic performance as well as robustness compared with traditional PID type controller. It also has the advantages of simple structure, easy adjustment and easy implementation. The stability of the AUV motion control system with the proposed controller is analyzed through Lyapunov method. Moreover, the controlled performance can also be adjusted to satisfy different control requirements. The outperformed dynamic control performance of AUV yaw and depth systems with the proposed controller is shown by the set-point regulation and trajectory tracking simulation examples.

scholarly journals Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties

Designs ◽  
2021 ◽  
Vol 5 (1) ◽  
pp. 24
Author(s):  
Anton Zhilenkov ◽  
Sergei Chernyi ◽  
Andrey Firsov
Keyword(s):  
Control System ◽  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Motion Control System ◽  
Quality Of Control ◽  
Exogenous Disturbances ◽  
Proportional Derivative Controller

The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties.

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 704-710 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Yuriy Chernukhin ◽  
Viktor Guzik ◽  
Mikhail Medvedev ◽  
Boris Gurenko ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Intelligent Control System ◽  
Azov Sea ◽  
Complex Simulation ◽  
Point To Point

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

DESIGN OF SURGE AND ROLL MOTION CONTROL SYSTEM OF ITSUNUSA AUV USING PID CONTROLLER

JOURNAL ASRO ◽  
2018 ◽  
Vol 9 (1) ◽  
pp. 139
Author(s):  
Teguh Herlambang ◽  
Subchan Subchan
Keyword(s):  
Control System ◽  
Motion Control ◽  
Pid Control ◽  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Motion Equation ◽  
Roll Motion ◽  
Proportional Integral Derivative ◽  
Motion Control System ◽  
Nonlinear Motion

ABSTRACT This paper is about designing motion control system with 2-DOF motion equation to be applied to an Autonomous Underwater Vehicle (AUV) system. The 2-DOF motion equation which consists of surge and roll motion in the form of equations of nonlinear motion. The control system design applied to the ITSUNUSA AUV system uses the Proportional Integral Derivative (PID) method. The simulation results of the PID control system with the motion equation with 2-DOF on the ITSUNUSA AUV system show that the system proves to be stable at a predetermined set-point with an error of 0.01% for surge motion and that with an error of 4.2% for roll motion.  Keywords: AUV, motion control, PID

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