scholarly journals Motion Control of Small Autonomous Underwater Vehicle in Presence of Parameters Uncertainties

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Design Parameters ◽  
Parameter Adaptation ◽  
Environmental Disturbances ◽  
Control Scheme ◽  
Adaptation Law ◽  
Model Reference Adaptive ◽  
Surrounding Fluid

A dynamic model of the underwater vehicle is usually established with parameters uncertainties due to the non-linear and time-varying nature of hydrodynamic forces from the surrounding fluid and external environmental disturbances. The paper investigates the motion control problem of the vehicle in tridimensional space based on model reference adaptive control. A developed autopilot consists of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. The effectiveness and robustness of the proposed control scheme for trajectory tracking in surge, depth and yaw dynamics is tested through simulations studies.

Control-Oriented Modelling of Spatial Motion of Autonomous Underwater Vehicle

2013 ◽  
Vol 196 ◽  
pp. 109-116
Author(s):  
Jerzy Garus
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Design Parameters ◽  
Reference Trajectory ◽  
Control Performance ◽  
Nonlinear Mathematical Model ◽  
Parameter Adaptation ◽  
Command Signals ◽  
Adaptation Law

Modelling of three-dimensional motion of an underwater vehicle along a time-varying reference trajectory with predefined speed profiles is presented in the paper. A nonlinear mathematical model with unknown nonlinearities describes the vehicle’s dynamics. Command signals are generated by an adaptive autopilot consisting of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. Selected results of computer simulations are inserted to demonstrate quality and effectiveness of the approach.

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.

Recurrent Higher Order Neural Network Control for Output Trajectory Tracking with Neural Observers and Constrained Inputs

2010 ◽  
pp. 286-311 ◽  
Author(s):  
Luis J. Ricalde ◽  
Edgar N. Sanchez ◽  
Alma Y. Alanis
Keyword(s):  
Neural Network ◽  
Tracking Error ◽  
Network Control ◽  
Design Parameters ◽  
The Neural Network ◽  
Control Scheme ◽  
Output Trajectory ◽  
Error Dynamics ◽  
Adaptation Law ◽  
Constrained Inputs

This Chapter presents the design of an adaptive recurrent neural observer-controller scheme for nonlinear systems whose model is assumed to be unknown and with constrained inputs. The control scheme is composed of a neural observer based on Recurrent High Order Neural Networks which builds the state vector of the unknown plant dynamics and a learning adaptation law for the neural network weights for both the observer and identifier. These laws are obtained via control Lyapunov functions. Then, a control law, which stabilizes the tracking error dynamics is developed using the Lyapunov and the inverse optimal control methodologies . Tracking error boundedness is established as a function of design parameters.

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.

Design and motion control of Autonomous Underwater Vehicle, Amogh

2015 ◽  
Author(s):  
V. Upadhyay ◽  
S. Gupta ◽  
A.C. Dubey ◽  
M.J. Rao ◽  
P. Siddhartha ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle
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