Relative analysis of controller effectiveness for vertical plane control of an autonomous underwater vehicle

2016 ◽  
Author(s):  
S. Karthick ◽  
K. Saran Kumar ◽  
Santhakumar Mohan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Relative Analysis

scholarly journals Stability and nonlinear controllability analysis of a quadrotor-like autonomous underwater vehicle considering variety of cases

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881940 ◽  
Author(s):  
Liwei Kou ◽  
Ji Xiang ◽  
Yanjun Li ◽  
Jingwei Bian
Keyword(s):  
Horizontal Plane ◽  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Plane Motion ◽  
Small Time ◽  
Degree Of Freedom ◽  
Local Controllability ◽  
Actuation System ◽  
Nonlinear Controllability

A quadrotor-like autonomous underwater vehicle that is similar to, yet different from quadrotor unmanned aerial vehicles, has been reported recently. This article investigates the stability and nonlinear controllability properties of the vehicle. First, the 12-degree-of-freedom model of the vehicle deploying an X shape actuation system is developed. Then, a stability property is investigated showing that the vehicle cannot be stabilized by a time invariant smooth state feedback law. After that, by adopting a nonlinear controllability analysis tool in geometric control theory, the small-time local controllability of the vehicle is analyzed for a variety of cases, including the vertical plane motion, the horizontal plane motion, and the three-dimensional space motion. Finally, different small-time local controllability conditions for different cases are developed. The result shows that the small-time local controllability holds for vertical plane motion and horizontal plane motion. However, the full degree of freedom kinodynamics model (i.e. 12 states) of the vehicle does not satisfy the small-time local controllability from zero-velocity states.

scholarly journals Energy-saving control of long-range autonomous underwater vehicle vertical plane based on human simulating intelligent control method

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142094474
Author(s):  
Hao Xu ◽  
Guo-cheng Zhang ◽  
Yu-shan Sun ◽  
Shuo Pang
Keyword(s):  
Energy Consumption ◽  
Long Range ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Vertical Plane ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Simulation Experiments ◽  
Wide Range

The long-range autonomous underwater vehicle is a new underwater vehicle with capability of stereoscopic observation of the ocean over a wide range of time series. This article proposed a novel control strategy for the long-range autonomous underwater vehicle considering the energy consumption. The vertical motion model of long-range autonomous underwater vehicle and the mathematical model of energy consumption of motion actuators are established in this article, and the maneuverability simulation experiments were carried out to analyze its motion and energy consumption characteristics. A hybrid controller based on human simulating intelligent control and S-plane control is designed. Considering the moment caused by the asymmetry of the hull in motion, an adaptive dynamic control allocation strategy is designed. Simulation experiments are conducted to demonstrate the performance of the scheme proposed.

Comparison of the Methods of Classical and Synergetic Theories of Control of the Movement Autonomous Underwater Machine

2019 ◽  
Vol 20 (11) ◽  
pp. 663-668
Author(s):  
A. A. Kolesnikov ◽  
O. I. Yakimenko ◽  
I. A. Radionov ◽  
D. S. Kaliy
Keyword(s):  
Control Theory ◽  
Automatic Control ◽  
Mathematical Description ◽  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
State Variables ◽  
Scalar Control ◽  
Synergetic Control ◽  
Control Principle

The article deals with the problem of nonlinear synthesis of the laws of motion control of an autonomous underwater vehicle (APA) in the vertical plane. The tasks of the synthesis are the output of the underwater vehicle to a predetermined depth at a given speed. Based on the non-linear mathematical model of the APA, the control laws are synthesized by two different approaches: using the classical automatic control theory method, the proportional-integral-differential controller (PID controller), and using the synergetic control theory, the analytical design method for aggregated regulators (ADAR). Classical methods of the theory of automatic control assume a linear or linearized mathematical description of controlled processes and scalar control, which cannot but affect the adequacy of the mathematical description of processes and the efficiency of the developed algorithms. Such structures are ineffective because they do not allow to obtain the necessary stability margin of the system and are approximate. In addition, the scalar control principle often limits the ability to effectively influence the system, ignoring potential control channels. The vector control principle used in the work allows to more effectively influence the system through various control channels. The assumed laws of synergetic control endow the object in question with properties of asymptotic stability in the entire admissible region of change of state variables.The results of computer simulation of the APA motion, which confirm the achievement of control goals, are considered.

scholarly journals The Application of PSO-AFSA Method in Parameter Optimization for Underactuated Autonomous Underwater Vehicle Control

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Chunmeng Jiang ◽  
Lei Wan ◽  
Yushan Sun ◽  
Yueming Li
Keyword(s):  
Parameter Optimization ◽  
Control Parameter ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Plane ◽  
Simulation Models ◽  
Underwater Vehicle ◽  
Field Trials ◽  
Vehicle Control ◽  
Underwater Vehicle Control

In consideration of the difficulty in determining the parameters of underactuated autonomous underwater vehicles in multi-degree-of-freedom motion control, a hybrid method that combines particle swarm optimization (PSO) with artificial fish school algorithm (AFSA) is proposed in this paper. The optimization process of the PSO-AFSA method is firstly introduced. With the control simulation models in the horizontal plane and vertical plane, the PSO-AFSA method is elaborated when applied in control parameter optimization for an underactuated autonomous underwater vehicle. Both simulation tests and field trials were carried out to prove the efficiency of the PSO-AFSA method in underactuated autonomous underwater vehicle control parameter optimization. The optimized control parameters showed admirable control quality by enabling the underactuated autonomous underwater vehicle to reach the desired states with fast convergence.

Comparison of Two Six-Degree of Freedom Simulation Models for Mini Autonomous Underwater Vehicle

2012 ◽  
Author(s):  
Duan Fei ◽  
Pang Shuo
Keyword(s):  
Numerical Model ◽  
Autonomous Underwater Vehicle ◽  
Numerical Models ◽  
Vertical Plane ◽  
Simulation Models ◽  
Underwater Vehicle ◽  
Correction Coefficient ◽  
Operation Conditions ◽  
Lift And Drag ◽  
Six Degree Of Freedom

This paper presents the modified numerical model based on the REMUS simulation model proposed by Timothy Prestero in his paper of MTS/IEEE Conference and Exhibition in 2001 when using it to simulate the “MAUV-III” Mini Autonomous Underwater Vehicle (AUV) of author’s laboratory. In addition, it describes the “MAUV-II” numerical model proposed by Wangbo in his Master thesis of Harbin Engineering University. Because of the inaccuracy of the calculated values of lift and drag coefficients under a series of rudder angles of attack based on the FLUENT software, which is proved by the actual experiment. The calculation method is modified by multiplying by 1.2 as the correction coefficient. After modification, the simulated results are proved to very close match to the experiment data. Based on the corresponding experiments including Circle Maneuver in horizontal plane and diving motion in vertical plane under given operation conditions, these two numerical models are shown to accurately simulate the motion of the “MAUV-III” AUV, especially for the modified REMUS model.

Design and experimental realization of a backstepping nonlinear H∞ control for an autonomous underwater vehicle using a nonlinear matrix inequality approach

2017 ◽  
Vol 40 (11) ◽  
pp. 3390-3403 ◽  
Author(s):  
Subhasish Mahapatra ◽  
Bidyadhar Subudhi
Keyword(s):  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Matrix Inequality ◽  
Parameter Uncertainties ◽  
Experimental Realization ◽  
State Dependent ◽  
Nonlinear Matrix Inequality ◽  
Nonlinear Matrix

This paper focuses on the development of a nonlinear [Formula: see text] control (NHC) algorithm for an autonomous underwater vehicle (AUV) in the vertical plane. A three-degree-of-freedom AUV depth model is developed in terms of a nonlinear affine form which is used to design the control algorithm. The depth is controlled using a backstepping technique which generates a desired pitch angle for the NHC algorithm. The nonlinear control is designed using the [Formula: see text]-gain analysis which is transformed into a Hamilton–Jacobi–Isaacs (HJI) inequality. Further, the HJI inequality is presented in terms of a nonlinear matrix inequality structure in order to find a solution for the NHC problem using the concept of convex optimization. Hence, we desire to test the convex property of the nonlinear system before the realization of the control algorithm. The robust behaviour of the NHC algorithm is realized by ensuring the performance of the proposed control algorithm in the face of model and parameter uncertainties. A comparison between the NHC algorithm and the state-dependent Riccati equation is made in order to show the efficacy of the developed control algorithm. Furthermore, an experimental study of the proposed control scheme has been pursued to analyse the effectiveness of the developed control algorithm.

scholarly journals Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Xuliang Yao ◽  
Guangyi Yang
Keyword(s):  
Energy Consumption ◽  
Predictive Control ◽  
Autonomous Underwater Vehicle ◽  
Optimization Problems ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Generalized Predictive Control ◽  
Time Step ◽  
Control Approach ◽  
Output Constraints

This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumption. Performance index based on pitch stabilizing performance, energy consumption, and system constraints is used to derive the control action applied for each time step. In order to deal with constrained optimization problems, a Hildreth’s QP procedure is adopted. Simulation results of AUV longitudinal control show better stabilizing performance and minimized energy consumption improved by multivariable GPC.

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