Comparison of Dynamic control model of Autonomous Underwater Vehicle Guidance

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.

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Design of Dynamic Control on Underwater Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.138-139.333 ◽

2011 ◽

Vol 138-139 ◽

pp. 333-338

Author(s):

Guan De Lun ◽

Yan Cong Liu ◽

Peng Yi ◽

Yang Qu

Keyword(s):

Control System ◽

Dynamic Control ◽

Underwater Vehicle ◽

Underwater Vehicles ◽

Control Model ◽

Time Varying ◽

Control Loop ◽

Negative Feedback Control ◽

Simulation Results

Considering the effects in the gravity, buoyancy, thrust and hydrodynamic on the underwater vehicle, based on the perspective of the dynamic control, established a relatively complete dynamic model of underwater vehicle, analyzed and designed the control system on this base. The control system is consisted of two control loop. Dynamic compensation of the within control loop based on the dynamic characteristic of the vehicle, by the role of the within control loop, the vehicle became an easy to control and a decoupled linear system. Outer control loop achieved a negative feedback control through the use of proportional and differential item on the actual vehicle pose and the posture deviation expected. Adjusted by adjusting the parameter matrix Kd, Kpcan get the desired attenuation of the error, which can achieve precise motion control of underwater vehicles. Simulation results show that: the control model, in the paper, can be built for dynamic control of underwater vehicles, there is a strong anti-interference ability, can better realize the theory of time-varying trajectory tracking.

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The Backseat Control Architecture for Autonomous Robotic Vehicles: A Case Study with the Iver2 AUV

Marine Technology Society Journal ◽

10.4031/mtsj.44.4.1 ◽

2010 ◽

Vol 44 (4) ◽

pp. 42-54 ◽

Cited By ~ 12

Author(s):

Donald P. Eickstedt ◽

Scott R. Sideleau

Keyword(s):

Real Time ◽

Autonomous Underwater Vehicle ◽

Dynamic Control ◽

Underwater Vehicle ◽

Control Architecture ◽

Classical Dynamic ◽

Time Dynamic ◽

Intelligent Controller ◽

Dynamic Controller ◽

Robotic Vehicles

Abstract In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This architecture has two major components, a behavior-based intelligent autonomous controller and an interface to a classical dynamic controller that is responsible for real-time dynamic control of the vehicle given the decisions of the intelligent controller over the decision state space (e.g., vehicle course, speed, and depth). The driving force behind the development of this architecture was a desire to make autonomy software development for underwater vehicles independent from the dynamic control specifics of any given vehicle. The resulting software portability allows significant code reuse and frees autonomy software developers from being tied to a particular vehicle manufacturer’s autonomy software and support as long as the vehicle supports the required interface between the intelligent controller and the dynamic controller. This paper will describe in detail the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provide several examples of its use, and discuss the future direction of the architecture.

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Modeling and Development of an Autonomous Underwater Vehicle ARYA for Object Recognition

International Journal of Recent Technology and Engineering - 2 ◽

10.35940/ijrte.b2843.078219 ◽

2019 ◽

Vol 8 (2) ◽

pp. 5505-5510

Keyword(s):

Undergraduate Students ◽

Structural Design ◽

Power Distribution ◽

Autonomous Underwater Vehicle ◽

Vision System ◽

Dynamic Control ◽

Underwater Vehicle ◽

Control Algorithms ◽

Technological University ◽

Made In

Arya is an autonomous underwater vehicle (AUV) modeled and developed by team DTU-AUV comprising of undergraduate students from multidisciplinary backgrounds of Delhi Technological University (DTU), India, to participate in an IEEE backed Singapore AUV Challenge (SAUVC). This paper entails the rationale and methodology employed to design and integrate various systems onboard. Significant improvisations have been made in the structural design of the vehicle to enhance its hydrodynamic stability and maneuverability to perform discrete tasks in comparison to the previous vehicles developed by the team. The focus is laid on the embedded and power system to enhance reliability, modularity, and power distribution. The software stack is designed to run in decentralized multi-threaded agent architecture, with the threads handling pressure sensor, cameras, control system, IMU, mission planner each performing input and output operations in continuous loops. PID control algorithms achieve the desired dynamic control. The vision system is devised to monitor the marine environment and detect underwater contoured objects.

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