scholarly journals Formation control of unmanned underwater vehicles using local sensing means in absence of follower position information

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098674
Author(s):  
Zheping Yan ◽  
Da Xu ◽  
Tao Chen ◽  
Jiajia Zhou
Keyword(s):  
Formation Control ◽  
Control Structure ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Lyapunov Methods ◽  
Relative Distance ◽  
Position Information ◽  
State Information ◽  
Unmanned Underwater Vehicles

Formation control is one of the essential problems in multi-unmanned underwater vehicle (UUV) coordination. In this article, a practically oriented UUV formation control structure and method are proposed for the problem of large communication in leader–follower approach. To solve the problem of large communication in multi-UUVs, local sensing means of acoustic positioning is used to provide the real relative distance and angle information for the follower UUV. So, only a small amount of state information of the leader UUV needs to be sent to the follower UUV by acoustic communication. Then, the formation control structure in absence of follower position information is proposed. In this control structure, only the relative distance and angle, as well as velocity and heading of the leader UUV, are used for the formation controller design of the follower UUV. Backstepping and Lyapunov methods are used to design the formation controller without position information of the follower UUV. Two formation configurations of rectangle and triangle with five UUVs are simulated to verify the effectiveness of the method proposed. The simulation results show that the follower UUV can successfully constitute and maintain the desired formation by controlling each real relative distance and angle.

scholarly journals Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-26
Author(s):  
Zheping Yan ◽  
Yi Wu ◽  
Yibo Liu ◽  
Hongliang Ren ◽  
Xue Du
Keyword(s):  
Feedback Linearization ◽  
External Disturbance ◽  
Underwater Vehicles ◽  
Consensus Control ◽  
Position Information ◽  
State Information ◽  
Unmanned Underwater Vehicles ◽  
Switching Topologies ◽  
Leader Following ◽  
Time Invariant

We propose a consensus control strategy for multiple unmanned underwater vehicles (multi-UUVs) with unmeasurable disturbances under the fixed and switching topologies. The current methods presented in the literature mainly solve tracking consensus problems with the disturbances under the time-invariant and time-varying topologies, respectively. In the paper, considering the complex nonlinear and couple model of the UUV, the technique of the feedback linearization is employed to transform the nonlinear UUV model into a second-order integral UUV model. For unmeasurable disturbances consisting of unknown model uncertainties and external disturbance for each UUV, we design the distributed extended state observer (DESO) to estimate the disturbances using the UUV position information relative to its neighbours. Moreover, leader-following multi-UUVs consensus control algorithm that enables all following UUVs to track the leader UUV state information based on the estimation state information from the DESO is proposed for two types of topologies, the fixed and switching topologies. Finally, simulation results are shown to demonstrate the effectiveness of the algorithm proposed in the paper.

QUATERNION-BASED ATTITUDE CONTROL OF HIGHLY MANEUVERABLE UNMANNED UNDERWATER VEHICLE

2021 ◽  
Vol 54 (2) ◽  
pp. 106-112
Author(s):  
GAVRILINA EKATERINA A. ◽  
◽  
VELTISHEV VADIM V. ◽  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Simple Structure ◽  
Synthesis Method ◽  
Field Tests ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Euler Angles ◽  
Unmanned Underwater Vehicles ◽  
Unmanned Underwater Vehicle

Traditionally, unmanned underwater vehicles are operated at low angles of inclination (pitch and roll). However, there are tasks that require high maneuverability and controllability of the underwater vehicle in the entire range of orientation angles. At the same time, traditional control systems use the Euler angles and have limitations associated with the degeneration of the kinematic equations at a picth angle of ± 90 °, the problem of the non-uniqueness of the Euler angles, and the deterioration of the system performance at large inclinations of the vehicle. Thus, the question of developing a synthesis method for a control system for highly maneuverable unmanned underwater vehicles arises. The paper provides a review and comparative analysis of existing approaches to attitude control, on the basis of which an approach using quaternions is chosen. The law of attitude control based on quaternions was approved during field tests on a hybrid unmanned underwater vehicle "Iznos", developed at Bauman Moscow State Technical University. The results obtained during the tests are given in the article. The quaternion-based approach has better performance in comparison with the traditional control system. In addition, control system based on quaternion approach has a simple structure and can be used to increase the maneuverability of unmanned underwater vehicles with average requirements for positioning accuracy.

Robust Control of Formation Dynamics for Autonomous Underwater Vehicles in Horizontal Plane

2012 ◽  
Vol 134 (3) ◽  
Author(s):  
Huizhen Yang ◽  
Fumin Zhang
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Loop Formation ◽  
Robust Controller ◽  
H Infinity ◽  
Three Degree Of Freedom ◽  
Jacobi Transform ◽  
Robust Controller Design

This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H-infinity state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.

scholarly journals On a method for supporting visual identification of underwater objects

2019 ◽  
Vol 66 (1) ◽  
pp. 25-34
Author(s):  
Bogdan Żak ◽  
Jerzy Garus
Keyword(s):  
Hough Transform ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Visual Images ◽  
Unmanned Underwater Vehicles ◽  
Preliminary Processing ◽  
Visual Identification ◽  
Video Images ◽  
Detection Of Objects ◽  
Initial Processing

Abstract The search and detection of objects under water is carried out by groups of specialised divers. However, their time underwater and their ability to penetrate the depths are limited. For these reasons, the use of unmanned underwater vehicles equipped with technical observation equipment, including TV cameras, is becoming increasingly popular for these tasks. Video images from cameras installed on vehicles are used to identify and classify underwater objects. The process of recognition and identification of objects is tedious and difficult and requires the analysis of numerous sequences of images, and so it is desirable to automate this process. In response to these needs, this article presents the concept of identification of underwater objects based on visual images from an underwater body of water sent from an unmanned underwater vehicle to a base vessel. The methods of initial processing of the observed images from an underwater area as well as the method of searching for selected objects in these images and their identification with the use of the Hough transform will be described. Furthermore, the paper presents the results of the preliminary processing and identification of the observed images following a deconvolution operation.

Model decomposition-based optimal formation control for multiple unmanned aerial vehicles

2021 ◽  
pp. 014233122110430
Author(s):  
Khan Muhammad Shehzad ◽  
Hao Su ◽  
Gong-You Tang ◽  
Bao-Lin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Controller Design ◽  
Feedforward Control ◽  
Position Information ◽  
Model Decomposition ◽  
Aerial Vehicles ◽  
Control Framework ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability

This paper deals with the optimal formation control problem based on model decomposition for multiple unmanned aerial vehicles (UAVs). The main contribution of this paper is to integrate the formation control and the trajectory tracking into one unified feedforward control and feedback control framework in an optimal mode. We first establish the dynamic model of the leader-follower UAV formation system, and the communication network topology which only depends on the position information given by the leader. Second, to reduce the complexity of the model, each follower is decomposed into three isolated subsystems. Third, a step-by-step formation controller design scheme decomposed into feedforward control and optimal control of formation control is proposed. Finally, the proposed scheme has been extensively simulated and the results demonstrate the stability and the optimality.

Development of Simulator for Intelligent Autonomous Underwater Vehicle

2015 ◽  
Vol 799-800 ◽  
pp. 1001-1005 ◽  
Author(s):  
Boris Gurenko ◽  
Roman Fedorenko ◽  
Maksim Beresnev ◽  
Roman Saprykin
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Robotic Systems ◽  
Unmanned Underwater Vehicles ◽  
Testing And Debugging ◽  
Functional Prototype

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

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