Design Depth and Balanced Control System of an Autonomous Underwater Vehicle with Fuzzy logic

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.

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

Engineering Applications for New Materials and Technologies - Advanced Structured Materials ◽

10.1007/978-3-319-72697-7_46 ◽

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

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Fuzzy Sliding Mode with Region Tracking Control for Autonomous Underwater Vehicle

Jurnal Teknologi ◽

10.11113/jt.v72.3893 ◽

2015 ◽

Vol 72 (2) ◽

Author(s):

Mohd Bazli Mohd Mokhar ◽

Zool Hilmi Ismail

Keyword(s):

Fuzzy Logic ◽

Tracking Control ◽

Autonomous Underwater Vehicle ◽

Sliding Mode ◽

Underwater Vehicle ◽

Fuzzy Sliding Mode Control ◽

Signum Function ◽

Fuzzy Sliding Mode ◽

Region Tracking ◽

Chattering Effect

This paper presents fuzzy sliding mode control with region tracking control for a single autonomous underwater vehicle. The vehicle is needed to track a certain moving region whilst under the influence of wave current. The fuzzy logic is used to tune the gain and to reduce the effect of chattering effect, the signum function is replaced by saturation function. Simulation result is presented to demonstrate the performance of the proposed tracking control of the AUV.

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

Applied Sciences ◽

10.3390/app9224958 ◽

2019 ◽

Vol 9 (22) ◽

pp. 4958 ◽

Cited By ~ 2

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.

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Computational Hydrodynamics for an Autonomous Underwater Vehicle With Moving Control Surfaces

Volume 1: Fora, Parts A and B ◽

10.1115/fedsm2002-31428 ◽

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.

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