Research on Motion Control of AUV with Hybrid Actuators

2013 ◽  
Vol 341-342 ◽  
pp. 906-912 ◽  
Author(s):  
Lei Zhang ◽  
Da Peng Jiang ◽  
Shu Ling Huang ◽  
Jin Xin Zhao
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Velocity Control ◽  
Yaw Control ◽  
Depth Control ◽  
System Vibration ◽  
The Stability

A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators. And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicles dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple structure, MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller. The stability of MSC is analyzed with Lyapunov function. Finally, MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters. The feasibility of MSC is demonstrated by the results of velocity control, yaw control and depth control tests.

A Feasible and Applicable Motion Control Method for AUV

2013 ◽  
Vol 694-697 ◽  
pp. 1771-1778
Author(s):  
Lei Zhang ◽  
Zhuo Wang ◽  
Jin Xin Zhao ◽  
Ying Liu
Keyword(s):  
Motion Control ◽  
Integral Method ◽  
High Speed ◽  
Control Method ◽  
Velocity Control ◽  
Coupling Effects ◽  
Yaw Control ◽  
Surface Control ◽  
Adaptive Weight ◽  
Depth Control

Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.

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.

scholarly journals Design, Analysis and Development of Autonomous Underwater vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 3805-3810
Keyword(s):  
Object Recognition ◽  
Motion Control ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Heading Control ◽  
Underwater Object ◽  
Institute Of Technology

Autonomous Underwater Vehicles (AUV) are slowly operated unmanned robots which Capable of propelling on pre-defined mission tracks independently under the water surface and are frequently used for oceanographic exploration, bathymetric surveys and defense applications. This AUV can perform underwater object recognition and obstacle avoidance with the use of appropriate sensors and devices. Vidyut is a miniature AUV developed at Sri Sairam Institute of Technology. The vehicle is equipped with six thrusters which allow for motion control in 6 Dof and has a non-conventional single hull heavy bottom hydrodynamic design. This paper discusses different aspects of the vehicle's unique design. The output of the Arduino Uno controller has been discussed for continuous depth and heading control.

scholarly journals Performance Analysis on Depth and Straight Motion Control based on Control Surface Combinations for Supercavitating Underwater Vehicle

2021 ◽  
Vol 24 (4) ◽  
pp. 435-448
Author(s):  
Beomyeol Yu ◽  
Hyemin Mo ◽  
Seungkeun Kim ◽  
Jong-Hyon Hwang ◽  
Jeong-Hoon Park ◽  
...  
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Control Surface ◽  
Control Performance ◽  
Friction Resistance ◽  
Control Loops ◽  
The Stability ◽  
And Control

This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a differential elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.

scholarly journals Optimal design of nose and tail of an autonomous underwater vehicle hull to reduce drag force using numerical simulation

2019 ◽  
Vol 234 (1) ◽  
pp. 76-88 ◽  
Author(s):  
Mohammad Saghafi ◽  
Roham Lavimi
Keyword(s):  
Energy Consumption ◽  
Drag Force ◽  
Autonomous Underwater Vehicle ◽  
Turbulence Modeling ◽  
Stokes Equations ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Navier Stokes

In this research, the flow around the autonomous underwater vehicles with symmetrical bodies is numerically investigated. Increasing the drag force in autonomous underwater vehicles increases the energy consumption and decreases the duration of underwater exploration and operations. Therefore, the main objective of this research is to decrease drag force with the change in geometry to reduce energy consumption. In this study, the decreasing or increasing trends of the drag force of axisymmetric bare hulls have been studied by making alterations in the curve equations and creating the optimal geometric shapes in terms of hydrodynamics for the noses and tails of autonomous underwater vehicles. The incompressible, three-dimensional, and steady Navier–Stokes equations have been used to simulate the flow. Also, k-ε Realizable with enhanced wall treatment was used for turbulence modeling. Validation results were acceptable with respect to the 3.6% and 1.4% difference with numerical and experimental results. The results showed that all the autonomous underwater vehicle hulls designed in this study, at an attack angle of 0°, had a lower drag force than the autonomous underwater vehicle hull used for validation except geometry no. 1. In addition, nose no. 3 has been selected as the best nose according to the lowest value of stagnation pressure, and also tail no. 3 has been chosen as the best tail due to the production of the lowest vortex. Therefore, geometry no. 5 has been designed using nose and tail no. 3. The comparison made here showed that the maximum drag reduction in geometry no. 5 was equal to 26%, and therefore, it has been selected as the best bare hull in terms of hydrodynamics.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

2018 ◽  
Vol 212 (1) ◽  
pp. 105-123
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Final Report ◽  
Level Control ◽  
Low Level

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Navigation and Autonomous Operation

2018 ◽  
Vol 213 (2) ◽  
pp. 53-67 ◽  
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Vehicle Navigation ◽  
Final Report ◽  
Autonomous Operation

Abstract The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.

scholarly journals Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey

2021 ◽  
Vol 2129 (1) ◽  
pp. 012080
Author(s):  
Chinonso Okereke ◽  
Nur Haliza Abdul Wahab ◽  
Mohd Murtadha Mohamad ◽  
S H Zaleha
Keyword(s):  
Energy Storage ◽  
Crucial Role ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
The Internet ◽  
The Earth ◽  
Future Work

Abstract Water, mostly oceans, covers over two-third of the earth. About 95% of these oceans are yet to be explored which includes 99% of the sea-beds. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and longer energy storage. In order for AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the challenges of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV. A summary and suggestion for future work was discussed.

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