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.

scholarly journals ESTIMASI GERAK TRANSLASI AUTONOMOUS UNDERWATER VEHICLE DENGAN ENSEMBLE KALMAN FILTER (EnKF)

2018 ◽  
Vol 2 (1) ◽  
pp. 41
Author(s):  
Teguh Herlambang ◽  
Subchan Subchan
Keyword(s):  
Kalman Filter ◽  
Ensemble Kalman Filter ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Degree Of Freedom

Penelitian dan pengembangan dari Autonomous Underwater Vehicle cukup banyak diantaranya terkait sistem kendali, navigasi dan hidrodinamika. Pada umunya persamaan gerak AUV adalah 6 derajat kebebasan/Degree of Freedom (DOF) yang terdiri dari gerak translasi (surge, sway, heave) dan gerak rotasi (roll, pitch, yaw). Pada paper ini dikembangkan metode estimasi gerak tranlasi dari ITSUNUSA AUV dengan metode Ensemble Kalman Filter. Pada paper ini juga dibandingkan berdasarakn pembangkian julah ensemble. Hasil simulasi menunjukkan bahwa yang terakurat adalah dengan membangkitkan 300 ensemble dengan error kecepatan untuk gerak surge adalah 0,082%, gerak sway 0.498% dan gerak heave 0.26%.

Modeling of Wing Flapping Motion

2016 ◽  
Vol 842 ◽  
pp. 132-140
Author(s):  
Tien Dat Nguyen ◽  
Subhan Sdywaliva ◽  
Taufiq Mulyanto
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Horizontal Plane ◽  
Vertical Plane ◽  
Degree Of Freedom ◽  
Pitching Motion ◽  
Flapping Motion ◽  
Aerial Vehicle ◽  
Animal World

In flying animal world, there are different flapping motions to produce lift and thrust depending on their species and size. Recent development in Unmanned Aerial Vehicle had tried to mimic flying animal. Rather than having two separate systems in providing lift and thrust, the wing upstroke and downstroke movement combined with wing twisting produce the necessary lift and thrust. Insects and some small birds have even the ability to fly hover.The present study is focused on the modeling of wing flapping motion. Instead of only accommodating flapping motion in a vertical plane and spanwise pitching motion, the model permits to include wing lead-lag motion in the horizontal plane. This more degree of freedom permit to model more complex wing flapping motion.

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.

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