Researching and Development of an Autonomous Underwater Vehicles with Capability of Collecting Solar Energy

2021 ◽  
Vol 31 (2) ◽  
pp. 75-83
Keyword(s):  
Solar Energy ◽  
Oil And Gas ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Water Environment ◽  
Underwater Vehicles ◽  
Polluted Water ◽  
Hydrodynamic Equations ◽  
Hierarchical Sliding Mode ◽  
The Stability

Autonomous Underwater Vehicles (AUV) is an unmanned underwater device with capability of performing a variety of missions in the water environment such as ocean operation, offshore waters, polluted water investigation including: marine scientific research, maritime monitoring, exploration, marine economics, oil and gas, security and defense, surveillance and measurement and in rescue and salve. In this article, the authors developed a model of AUV with retractable wings and evaluate the efficiency of solar energy collection. The establishment of the controller to adapt the stability requirements, in accordance with the model of equipment S-AUV (Solar - Autonomous Underwater Vehicles) was built. The hydrodynamic equations with the predefined conditions were modeled and solved. The Hierarchical Sliding Mode Controller (HSMC) for the S-AUV were applied in this research. Experimental results showed that the efficiency of the collection of the solar cell has been significantly improved comparing to a diving equipment without retractable energy wings. In addition, the simulation results showed that the developed controller performed much better control quality, adhering to the set value with the error within the permissible limit.

Methods of Discontinuous Control for the Autonomous Underwater Vehicles

2013 ◽  
Vol 278-280 ◽  
pp. 1473-1476
Author(s):  
Alexander Lebedev
Keyword(s):  
Reference Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Variable Structure ◽  
Underwater Vehicles ◽  
Adjustment Process ◽  
Centralized Control ◽  
Reciprocal Effect ◽  
Discontinuous Control ◽  
Adjustment System

New methods of the synthesis of multi-dimensional robust and adaptive control systems for the centralized control of the spatial motion of autonomous underwater vehicles (AUV) is developed in this paper, such as variable structure system (VSS) and self-adjustment system with reference model. The conditions of the sliding mode existence and the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized discontinuous control provides the high control quality at any variations of the object parameters within the given ranges.

Fixed-time sliding mode tracking control for autonomous underwater vehicles

2021 ◽  
Vol 117 ◽  
pp. 102928
Author(s):  
Jiaqi Zheng ◽  
Lei Song ◽  
Lingya Liu ◽  
Wenbin Yu ◽  
Yiyin Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Mode Tracking

scholarly journals Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091627
Author(s):  
Jiajia Zhou ◽  
Xinyi Zhao ◽  
Zhiguang Feng ◽  
Di Wu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Time Delays ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Error Equation ◽  
Mode Control ◽  
Input Time

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

scholarly journals Research, Design and Development a Model Solar Autonomous Underwater Vehicles

2021 ◽  
Vol 9 (9) ◽  
pp. 1217-1223 ◽  
Keyword(s):  
Solar Energy ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Main Tool ◽  
Underwater Vehicles ◽  
Energy Problem ◽  
Propulsion Systems ◽  
Marine Economy ◽  
Computational Fluid Dynamics Cfd ◽  
The Military

Autonomous Underwater Vehicle (AUV) has become the main tool for exploring the oceans in the fields of science, the military and the marine economy... However, the energy problem for AUV has always been of interest to many researchers. AUV’s missions are time-limited by constraints of onboard vehicle power. Most missions are therefore short, from 4 to 15 hours duration. Solar energy is an effective renewable energy source and has increasingly been used in many fields. We can see that if the Solar Autonomous Underwater Vehicles (S-AUV) has the little surface area then the efficiency of solar collector is low. Hence, we need to optimize the structure of S-AUV. When designing a SAUV in particular and an AUV in general, one of the first concerns is structural shapes, energy and propulsion systems. However, the problem for S-AUV shaped structure is extremely important, requiring the designer to optimize between increased size solar wing and collected solar energy. This paper discusses the use of Computational Fluid Dynamics (CFD) to determine the resistance of S-AUV when receiving solar energy. Reducing the drag and increasing the ability while collecting solar energy are the purpose of this research. The authors developed a model of S-AUV with retractable wings and evaluate the efficiency of solar energy collection. The hydrodynamic equations with the predefined conditions were modeled and solved

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