Development of a PID Control Strategy for a Compact Autonomous Underwater Vehicle

2019 ◽  
Author(s):  
Avilash Sahoo ◽  
Santosha K. Dwivedy ◽  
P. S. Robi
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Fibre Composite ◽  
Underwater Vehicle ◽  
Guidance System ◽  
Ansys Fluent ◽  
System Parameters ◽  
Neutrally Buoyant

Abstract This paper presents a proportional-integral-derivative (PID) control strategy for navigation of a compact autonomous underwater vehicle (AUV) developed in-house. The AUV has a closed frame, neutrally buoyant, three-part modular structure made up of glass fibre composite material. Three fix position bi-directional thrusters are used for propulsion. A detailed CAD model of the AUV is developed using the modelling software SOLIDWORKS to estimate different system parameters. Hydrodynamic parameters are estimated from the ANSYS Fluent simulations of the AUV structure. Using the system parameters, a six degrees of freedom (DOF) dynamic model is developed, which is further simplified to a 4 DOF model. A 3D guidance system is developed for path planning using Line-of-Sight (LOS) strategy with way-point navigation. A closed loop PID controller is developed to follow the trajectory developed by the guidance system. The controller is simulated using MATLAB Simulink and the results are discussed.

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

Intelligent Steering Control of an Autonomous Underwater Vehicle

2000 ◽  
Vol 53 (3) ◽  
pp. 511-525 ◽  
Author(s):  
R. Sutton ◽  
R. S. Burns ◽  
P. J. Craven
Keyword(s):  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Fuzzy Inference ◽  
Underwater Vehicle ◽  
Guidance System ◽  
Line Of Sight ◽  
Steering Control ◽  
Inference System ◽  
Sea Current ◽  
Proportional Derivative Controller

This paper considers the development of three autopilots for controlling the yaw responses of an autonomous underwater vehicle model. The autopilot designs are based on the adaptive network-based fuzzy inference system (ANFIS), a simulated, annealing-tuned control algorithm and a traditional proportional-derivative controller. In addition, each autopilot is integrated with a line-of-sight (LOS) guidance system to test its effectiveness in steering round a series of waypoints with and without the presence of sea current disturbance. Simulation results are presented that show the overall superiority of the ANFIS approach.

Autonomous Underwater Vehicle Control in Presence of Waves

2008 ◽  
Author(s):  
L. Moreira ◽  
C. Guedes Soares
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Equations Of Motion ◽  
Wave Force ◽  
Underwater Vehicle ◽  
Principle Of Superposition ◽  
Wave Disturbances ◽  
Underwater Vehicle Control ◽  
Different Depths ◽  
6 Degrees Of Freedom

In this paper, the 6 degrees of freedom equations of motion of an autonomous underwater vehicle (AUV) are described as a linear model and divided into three non-interacting (or lightly interacting) subsystems for speed control, steering and diving. In addition to the model of the AUV dynamics, the first and the second order wave force disturbances, i.e. the Froude-Kriloff and diffraction forces are introduced. Based on the principle of superposition it is possible to represent the AUV dynamics as the sum of low and high frequency motions. An algorithm of non-linear regression for the rationalization of the sub-surface sea spectrum is provided. Two different control designs, based on H2 and H∞ methodologies, were applied to the diving and course control of the vehicle considering the presence of the wave disturbances. The work is based on the slender form of the Naval Postgraduate School AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes and a stern plane. The wave effect on the corresponding motions of the underwater vehicle is analyzed and evaluated considering the AUV operating at different depths and different sea states using both controllers. The model presented here can be a useful simulation tool to predict the underwater vehicles behavior in different mission scenarios.

Energy Conservation Control Strategy of Autonomous Underwater Vehicle for Ocean Search

2015 ◽  
Vol 73 ◽  
pp. 589-593 ◽  
Author(s):  
Xiao Liang ◽  
Xiaojian Hua ◽  
Linfang Su ◽  
Wei Li ◽  
Jundong Zhang
Keyword(s):  
Energy Conservation ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

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