Motion control of underwater vehicle based on least disturbance BP algorithm

2002 ◽  
Vol 1 (1) ◽  
pp. 16-20 ◽  
Author(s):  
Xue-min Liu ◽  
Jian-cheng Liu ◽  
Yu-ru Xu
Keyword(s):  
Motion Control ◽  
Underwater Vehicle ◽  
Bp Algorithm ◽  
Least Disturbance

Improved BP Algorithm Applied to Motion Control of UV

2013 ◽  
Vol 446-447 ◽  
pp. 1183-1187
Author(s):  
Jian Guo Wang ◽  
Gang Yi Hu ◽  
Chun Meng Jiang
Keyword(s):  
Neural Networks ◽  
Motion Control ◽  
Underwater Vehicle ◽  
Bp Algorithm ◽  
Learning Mechanism ◽  
Main Target ◽  
Research Objects ◽  
The Stability ◽  
Improved Bp Algorithm ◽  
Least Disturbance

Up to now, some technologies of neural networks are developed to solve the non-linearity of research objects and the adaptive control is implemented in many engineering fields, and some good results are achieved. Though the learning mechanism of neural networks is really unknowable, the importance of study ratio is widely realized, and some methods on modification of study ratio are provided. Improving the stability and increasing the convergent rate of networks by defining a good form of study ratio is the main target. A new algorithm named least disturbance BP algorithm is proposed to calculate the ratio online according to the output errors, the weights of network and the input values. The algorithm is applied to the control of an underwater vehicle. The good performance of the algorithm and the controller is demonstrated by the experimental results.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals Dynamics Modeling and Motion Control of an New Unmanned Underwater Vehicle

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 30119-30126 ◽  
Author(s):  
Fang Kong ◽  
Yinjing Guo ◽  
Wenhong Lyu
Keyword(s):  
Motion Control ◽  
Underwater Vehicle ◽  
Dynamics Modeling ◽  
Unmanned Underwater Vehicle

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

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 704-710 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Yuriy Chernukhin ◽  
Viktor Guzik ◽  
Mikhail Medvedev ◽  
Boris Gurenko ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Intelligent Control System ◽  
Azov Sea ◽  
Complex Simulation ◽  
Point To Point

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

Sign in / Sign up

Export Citation Format

Share Document