Reliability of an Autonomous Underwater Vehicle with a Multiagent Control System

2016 ◽  
Vol 5 (84) ◽  
pp. 25-34
Author(s):  
L. A. Martynova ◽  
◽  
M. B. Rozengauz ◽  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Multiagent Control

Safe Navigation Algorithm for Autonomous Underwater Vehicles

2021 ◽  
Vol 29 (1) ◽  
pp. 97-110
Author(s):  
V.S. Bykova ◽  
◽  
A.I. Mashoshin ◽  
I.V. Pashkevich ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Limited Size ◽  
Safe Navigation ◽  
Navigation Algorithm ◽  
Navigation Algorithms ◽  
Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

A Trim Tank Control System for an Autonomous Underwater Vehicle (AUV)

2018 ◽  
pp. 567-578
Author(s):  
Md Salim Kamil ◽  
Noorazlina Mohamid Salih ◽  
Atzroulnizam Abu ◽  
Muhammad Muzhafar Abdullah ◽  
Norshakila Abd Rasid ◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

scholarly journals Saturation Based Nonlinear FOPD Motion Control Algorithm Design for Autonomous Underwater Vehicle

2019 ◽  
Vol 9 (22) ◽  
pp. 4958 ◽  
Author(s):  
Lichuan Zhang ◽  
Lu Liu ◽  
Shuo Zhang ◽  
Sheng Cao
Keyword(s):  
Control System ◽  
Motion Control ◽  
Simple Structure ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Performance ◽  
Dynamic Control ◽  
Algorithm Design ◽  
Underwater Vehicle ◽  
Motion Control System ◽  
The Stability

The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear fractional-order PD (FOPD) controller is proposed for AUV motion control. The proposed controller is can achieve better dynamic performance as well as robustness compared with traditional PID type controller. It also has the advantages of simple structure, easy adjustment and easy implementation. The stability of the AUV motion control system with the proposed controller is analyzed through Lyapunov method. Moreover, the controlled performance can also be adjusted to satisfy different control requirements. The outperformed dynamic control performance of AUV yaw and depth systems with the proposed controller is shown by the set-point regulation and trajectory tracking simulation examples.

Computational Hydrodynamics for an Autonomous Underwater Vehicle With Moving Control Surfaces

2002 ◽  
Author(s):  
Abdollah Arabshahi ◽  
Howard J. Gibeling
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Stokes Equations ◽  
System Development ◽  
Underwater Vehicle ◽  
Time Dependent ◽  
Navier Stokes ◽  
Computational Hydrodynamics ◽  
Flow Solver ◽  
Control Surfaces

The present study was undertaken to provide information for both design improvement and control system development during various stages of an autonomous underwater vehicle (AUV) development project. The need to establish a predictive capability for the hydrodynamic (control) coefficients for an AUV presented an opportunity to apply a multiblock incompressible Navier-Stokes flow solver which has evolved over many years. The solver utilizes a state-of-the-art implicit, upwind numerical scheme to solve the time-dependent Navier-Stokes equations in a generalized time-dependent curvilinear coordinate system. Domain decomposition is accomplished via a general unstructured multiblock approach. In addition, an efficient grid movement capability is incorporated in the code that will handle the relative motion of a multi-component configuration (e.g. oscillating control surfaces). Numerous simulations were conducted during the course of this work. The computations for vehicle and propulsor design consisted mainly of steady state axisymmetric computations, while for control system development both steady and unsteady (prescribed motion) simulations were conducted. The latter cases focus on the forces and moments on the vehicle that are needed for extraction of control information. A brief overview will be presented on the flow solver. This will be followed by a presentation of the numerical results.

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 704-710 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Yuriy Chernukhin ◽  
Viktor Guzik ◽  
Mikhail Medvedev ◽  
Boris Gurenko ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Intelligent Control System ◽  
Azov Sea ◽  
Complex Simulation ◽  
Point To Point

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

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