scholarly journals Model-Based Design (MBD) for Autonomous Underwater Vehicle

2019 ◽  
Vol 8 (12S2) ◽  
pp. 743-746
Keyword(s):  
Control Algorithm ◽  
Fuzzy Logic Controller ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Integrated Sensor ◽  
Pressure Sensing ◽  
Depth Data ◽  
Depth Control ◽  
The Comparative Study

This project is to enhanced and upgraded a depth controller for Autonomous Underwater Vehicle (AUV) to submerge precisely at the certain depth. This poster demonstrated an AUV equipped with integrated sensor and depth controller based on the pressure sensing which able to continuously sending the depth data to controller. The depth Simulink Arduino algorithm is implemented on an Arduino Mega using ModelBased Design (MBD) with MATLAB and Simulink. MBD used to model, simulate and verify the Simulink control algorithm after obtained data through open-loop experiment test. Then, it deploys and tests the algorithm on the embedded AUV hardware. The focus was in controlling the AUV vertical trajectory as the AUV tried to remain stationary at the selected depth and consuming its rise time Tr , overshoot Os , and settling time Ts are minimized. The comparative study for the AUV depth-control by On-Off, Proportional Integral Derivative (PID) controller and Fuzzy Logic Controller (FLC) controllers. MBD has faster implementation with fewer coding error when deploy to AUV hardware.

scholarly journals Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

Model-Free PID Controller Based on Grey Wolf Optimizer for Hovering Autonomous Underwater Vehicle Depth Control

2020 ◽  
pp. 25-35
Author(s):  
Mohd Zaidi Mohd Tumari ◽  
Amar Faiz Zainal Abidin ◽  
Ahmad Anas Yusof ◽  
Mohd Shahrieel Mohd Aras ◽  
Nik Mohd Zaitul Akmal Mustapha ◽  
...  
Keyword(s):  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Grey Wolf Optimizer ◽  
Grey Wolf ◽  
Model Free ◽  
Depth Control

scholarly journals An Autonomous Underwater Vehicle Simulation Using Linear Quadratic Servo Based on Open Control Platform

2012 ◽  
Vol 2012 ◽  
pp. 1-4 ◽  
Author(s):  
Nanang Syahroni ◽  
Jae Weon Choi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
New Approach ◽  
Decentralized System ◽  
Vehicle Simulation ◽  
Depth Control ◽  
Open Control ◽  
Simulation Results ◽  
Optimal Regulator

This paper presents an optimal regulator for depth control simulation of an autonomous underwater vehicle (AUV) using a new approach of decentralized system environment called open control platform (OCP). Simulation results are presented to demonstrate performance of the proposed method.

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.

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