Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV

2015 ◽  
Vol 741 ◽  
pp. 720-724
Author(s):  
Zhi Bin Jiang ◽  
Tie Jun Liu ◽  
Hui Xi Xu ◽  
Song Li Jia ◽  
Jian Cui
Keyword(s):  
Process Simulation ◽  
Pitch Angle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Plane Motion ◽  
Decoupling Control ◽  
Dynamic Uncertainty ◽  
Control Scheme ◽  
Simulation Results ◽  
Multivariable Decoupling

The diving plane motion of autonomous underwater vehicles (AUVs) is a complex multivariable nonlinear system with pitch-heave coupling. Tornambe’s controllers (TCs) can online estimate the dynamic uncertainty regardless of the type of disturbance. The TCs for depth and pitch angle are adopted to achieve multivariable decoupling control by introducing virtual control inputs. The methodology can obtain fast and non-overshoot control of depth and pitch angle in the diving and floating process. Simulation results demonstrated the effectiveness of the proposed control scheme.

scholarly journals Distributed synchronization of autonomous underwater vehicles with memorized protocol

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984414 ◽  
Author(s):  
Chao Ma ◽  
Wei Wu
Keyword(s):  
Model Transformation ◽  
Autonomous Underwater Vehicles ◽  
Theoretical Method ◽  
Underwater Vehicles ◽  
Functional Method ◽  
Synchronization Problem ◽  
Distributed Synchronization ◽  
Simulation Results ◽  
Synchronization Performance ◽  
Synchronization Protocol

This article investigates the distributed synchronization problem of autonomous underwater vehicles by developing a novel synchronization protocol with memorized controller. More precisely, the memory information for information exchanges of autonomous underwater vehicles is utilized such that the synchronization performance can be improved. By employing the Lyapunov–Krasovskii functional method with model transformation, sufficient criteria are established for guaranteeing the synchronization, and the corresponding distributed synchronization controllers are designed based on matrix techniques. Finally, the effectiveness and benefits of our theoretical method are supported by an illustrative example with simulation results.

Observability Analysis for MAUVs Cooperative Navigation System Based on Moving Long Baseline

2013 ◽  
Vol 475-476 ◽  
pp. 609-615
Author(s):  
Peng Ma ◽  
Fu Bin Zhang ◽  
De Min Xu ◽  
Shao Kun Yang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Simulation Experiments ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Simulation Results ◽  
Moving Long Baseline ◽  
Theoretical Results

This paper addresses the observability problem of 2D Multiple Autonomous Underwater Vehicles (MAUVs) cooperative navigation system. We derive the conditions to keep the local weak observability of navigation system using the Lie derivatives, and characterize the unobservable trajectories of AUVs. We design a series of simulation experiments using the Extended Kalman Filter (EKF) to verify the theoretical results. Finally, the simulation results show that the good performance of navigation system can be presented if avoiding the unobservable trajectories of AUVs.

Heading Autopilot of Autonomous Underwater Vehicles With Internal Moving Mass

2016 ◽  
Vol 12 (2) ◽  
Author(s):  
Bo Li ◽  
Tsung-Chow Su
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Plane Motion ◽  
Linear Feedback ◽  
Moving Mass ◽  
Nonlinear Dynamical ◽  
Underwater Gliders ◽  
Heading Control ◽  
Heading Angle ◽  
The Stability

Inspired by the designs of underwater gliders, hybrid autonomous underwater vehicles (AUVs) have emerged recently, which use internal actuators instead of control surfaces to control the heading angle and depth of the vehicles. In this paper, we focus on controlling the heading angle of a REMUS AUV by using an internal moving mass. We derive a nonlinear dynamical model of the vehicle with hydrodynamic forces and coupling between the vehicle and the internal moving mass. The model is used to study the stability of the horizontal-plane motion of the vehicle and to design a linear feedback law to stabilize its heading angle around a desired direction. Simulation results demonstrate that a controlled internal moving mass is able to fulfill the purpose of heading control.

scholarly journals A Collective Control Scheme to Solve Time-varying Formation Control Problem of Multiple Autonomous Underwater Vehicles with Time Delay

2021 ◽  
Author(s):  
Yongnan Jia ◽  
Weicun Zhang
Keyword(s):  
Communication Network ◽  
Time Delay ◽  
Control Problem ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Evolutionary Process ◽  
Underwater Vehicles ◽  
Time Varying ◽  
Collective Control ◽  
Control Scheme

Abstract Due to the limitation of complexity and uncertainty of the underwater environment, the related technologies of autonomous underwater vehicles(AUVs) develop slowly. Therefore, an ingenious solution characterized by low cost, convenient operation, and low individual intelligence is urgently required. Inspired from these collective behaviours of gregarious creatures in nature, the coordination control problem of multiple AUVs is endowed with new research significance to complete complex underwater operational tasks. This paper aims to propose a general control scheme to solve the time-varying formation control problem of multiple AUVs that take into account the communication time delay. Firstly, a complete six-degrees-of-freedom dynamical model is applied instead of the real AUVs in the following theoretical analysis and simulation verification. Then, a metric-based nearest neighbour interacted rule is introduced to build the communication network of the system. Periodic sampling technology and zero-order hold loop are adopted to simplify the communication problem of time delay. Based on the above dynamical model and communication mechanism, a distributed collective control protocol is proposed to enable these AUVs asymptotically converge to a desired geometrical configuration on the condition that the initial communication network is undirected and connected. During the evolutionary process, no collision happens between any two AUVs. The formation configuration can be maintained until a simple switching controller works for the configuration transformation tasks. Finally, the simulation results proved the effectiveness of the above collective control scheme and visually exhibited the three-dimensional dynamical evolutionary process.

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