Design and initial in-water testing of advanced non-linear control algorithms onto an Unmanned Underwater Vehicle (UUV)

2007 ◽  
Author(s):  
Vladimir Djapic ◽  
J.A. Farrell ◽  
Paul Miller ◽  
Rich Arrieta
Keyword(s):  
Underwater Vehicle ◽  
Linear Control ◽  
Control Algorithms ◽  
Water Testing ◽  
Unmanned Underwater Vehicle ◽  
Non Linear

scholarly journals Analytical Synthesis of Non-Linear Control Algorithms of a Chemical Reactor Thermal Mode

Processes ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 644
Author(s):  
Alexander Nikolaevich Labutin ◽  
Milan Vaško ◽  
Ivan Kuric ◽  
Vladimir Yuryevich Nevinitsyn ◽  
Milan Sága ◽  
...  
Keyword(s):  
Control System ◽  
Invariant Manifolds ◽  
Exothermic Reaction ◽  
Chemical Reactor ◽  
System Structure ◽  
Linear Control ◽  
Control Algorithms ◽  
Thermal Mode ◽  
Non Linear ◽  
Analytical Synthesis

The paper deals with two approaches to the synthesis of a non-linear control system of the thermal regime of a liquid-phase chemical reactor at the realization of a bimolecular exothermic reaction. Synthesis of control algorithms is carried out by the method of analytical design of aggregated regulators (ADAR). The first variant assumes synthesis of temperature controller by classic ADAR method on the basis of a sequential set of invariant manifolds. The second one is based on the cascade control system structure. Computer simulation is used to study and compare the synthesized control systems.

Modeling and control of an unmanned underwater vehicle using a mass moving system

2015 ◽  
Vol 29 (06n07) ◽  
pp. 1540014 ◽  
Author(s):  
Seung-Woo Byun ◽  
Donghee Kim ◽  
Hyeung-Sik Choi ◽  
Joon-Young Kim
Keyword(s):  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Control Algorithms ◽  
Dynamics Model ◽  
Modeling And Control ◽  
Pitch Control ◽  
Unmanned Underwater Vehicle ◽  
Point Tracking ◽  
Heading Control ◽  
And Control

This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK©. To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.

scholarly journals Design and In-Water Testing of a Fault-Detection System for Unmanned Underwater Vehicle Actuators

2019 ◽  
Vol 11 (1) ◽  
Author(s):  
Matt Kemp ◽  
Jon Erickson ◽  
Scott Jensen ◽  
Sotiria Lampoudi ◽  
Eric J. Martin
Keyword(s):  
Fault Detection ◽  
False Alarm ◽  
Detection System ◽  
Underwater Vehicle ◽  
Fault Detection And Isolation ◽  
Test Results ◽  
Water Testing ◽  
Unmanned Underwater Vehicle ◽  
Testing Sequence ◽  
System Requirements

We discuss the design of a fault-detection system for an unmanned underwater vehicle (UUV) actuator and present the results of in-water testing. We first discuss the design of the system, then its integration onto the UUV, the in-water testing sequence, and finally the analysis of the test results –- missed detection and false-alarm rate. This system serves as a platform for UUV fault detection and isolation research, enabling the development of system requirements, and providing the opportunity to compare the merits of the centralized vs decentralized fault-detection design approaches.

Design and Development of an Unmanned Underwater Vehicle (UUV) in the Form of a Cuttlefish

2018 ◽  
Author(s):  
Susheelkumar Cherangara Subramanian ◽  
Thao Le ◽  
Jason Olson ◽  
Sandesh Bhat ◽  
Sangram Redkar
Keyword(s):  
Data Collection ◽  
Mathematical Models ◽  
Simulation Model ◽  
Underwater Vehicle ◽  
Control Algorithms ◽  
Unmanned Underwater Vehicle ◽  
Military Applications ◽  
And Control ◽  
Theoretical Results ◽  
Undulating Fin

Current methods of unmanned underwater locomotion do not meet stealth, robustness and efficiency. This work discuses about designing a Bioinspired UUV or Unmanned Underwater Vehicle that uses an undulating fin approximating to that of a cuttlefish fin locomotion. This propulsion method has higher maneuverability and ability to navigate while leaving its surroundings relatively undisturbed as compared to other propeller based systems. Mathematical models and control algorithms describing the complicated locomotion have been developed, and a simulation model is used to verify the theoretical results. This design of UUV can be utilized for underwater data collection and military applications without hampering the underwater wildlife.

Active Non-Linear Control of a Buckled Beam

2000 ◽  
Author(s):  
Osvaldo C. Pinto ◽  
Paulo B. Gonçalves
Keyword(s):  
Linear Control ◽  
Control Algorithms ◽  
Static Loads ◽  
Buckled Beams ◽  
Buckled Beam ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Load Carrying ◽  
Non Linear ◽  
Control Forces

Abstract Buckled beams have been used in several engineering applications to support lateral loading. These arch-like structures are highly nonlinear and may display several instability phenomena when subjected to dynamic and static loads. In this paper a certain class of optimal non-linear control algorithms is used to control the oscillations of simply supported buckled beams subjected to transversal distributed load. To control the non-linear oscillations of the arch, concentrated moments are applied at suitable points along the beam axis. The results show that the proposed control scheme can not only mitigate the effects of dynamic loading on the vibration amplitudes of the beam but also prevent dangerous instability phenomena. In fact the numerical results indicate that the control algorithm can effectively increase the load-carrying capacity of the beam without demanding large control forces.

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