A two-step control strategy for docking of Autonomous Underwater Vehicles

2012 ◽  
Author(s):  
P. Batista ◽  
C. Silvestre ◽  
P. Oliveira
Keyword(s):  
Control Strategy ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Step Control

scholarly journals Advanced Autonomous Underwater Vehicles Attitude Control with L 1 Backstepping Adaptive Control Strategy

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4848
Author(s):  
Yuqian Liu ◽  
Jiaxing Che ◽  
Chengyu Cao
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Attitude Control ◽  
Autonomous Underwater Vehicles ◽  
Euler Angle ◽  
Underwater Vehicles ◽  
Linearization Method ◽  
Backstepping Control ◽  
Feedback Form ◽  
Adaptive Control Strategy

This paper presents a novel attitude control design, which combines L 1 adaptive control and backstepping control together, for Autonomous Underwater Vehicles (AUVs) in a highly dynamic and uncertain environment. The Euler angle representation is adopted in this paper to represent the attitude propagation. Kinematics and dynamics of the attitude are in the strict feedback form, which leads the backstepping control strategy serving as the baseline controller. Moreover, by bringing fast and robust adaptation into the backstepping control architecture, our controller is capable of dealing with time-varying uncertainties from modeling and external disturbances in dynamics. This attitude controller is proposed for coupled pitch-yaw channels. For inevitable roll excursions, a Lyapunov function-based optimum linearization method is presented to analyze the stability of the roll angle in the operation region. Theoretical analysis and simulation results are given to demonstrate the feasibility of the developed control strategy.

Robust Hierarchical Hovering Control of Autonomous Underwater Vehicles via Variable Ballast System

2020 ◽  
Vol 143 (3) ◽  
Author(s):  
Anyuan Bi ◽  
Zhengping Feng ◽  
Chenlu He
Keyword(s):  
Control Strategy ◽  
Lower Layer ◽  
Autonomous Underwater Vehicles ◽  
Hierarchical Control ◽  
Underwater Vehicles ◽  
Uniform Asymptotic Stability ◽  
Modeling Errors ◽  
Mass Flowrate ◽  
Continuous Mass ◽  
Hovering Control

Abstract Hovering control of autonomous underwater vehicles (AUVs) via a variable ballast system (VBS) is challenging owing to the difficulty in precisely estimating related hydrodynamic coefficients and vertical disturbance. In this work, a hierarchical control strategy is proposed which comprises an upper layer—the proportional-integral-derivative (PID) type ballast water mass planner generating the desired ballast mass, and a lower layer—the continuous mass flowrate controller adjusting the actual ballast mass. The resulting flowrate algorithm endows the system with local uniform asymptotic stability and robustness to both modeling errors and vertical disturbance. Numerical results verify the feasibility and effectiveness of the proposed hierarchical hovering control strategy.

A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles

2013 ◽  
Vol 67 (1) ◽  
pp. 113-127 ◽  
Author(s):  
Daqi Zhu ◽  
Xun Hua ◽  
Bing Sun
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Biologically Inspired ◽  
Adaptive Sliding Mode Controller ◽  
Real Time Tracking

A biologically inspired neurodynamics-based tracking controller of underactuated Autonomous Underwater Vehicles (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicles due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thruster control constraints problems that are commonly seen in the backstepping control of AUV are solved by the proposed controller. Simulation results show that the control strategy achieved success in smoothly tracking AUV position and velocity.

Finite-Time Formation Control for Autonomous Underwater Vehicles with Limited Speed and Communication Range

2014 ◽  
Vol 511-512 ◽  
pp. 909-912
Author(s):  
Jian Yuan ◽  
Feng Li Zhang ◽  
Zhong Hai Zhou
Keyword(s):  
Control Problem ◽  
Control Strategy ◽  
Finite Time ◽  
Cooperative Control ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Communication Range ◽  
Control Framework ◽  
Multi Robot

Cooperative control of multiple autonomous underwater vehicles (AUVs) plays an important role on marine scientific investigation and marine development. The formation of multi-AUV can significantly enhance applications on the marine sampling, imaging, surveillance and communications. Compared to the formation control of multi-robot, the formation control of multi-AUV is particularly difficult, especially on controlling attitude and direction of AUV; what is more, the communication method among AUVs is acoustic. When communication distance increases, the communication qualities deteriorate quickly; this mainly makes time-delay, signal attenuation and distortion. Although formation control of multiple AUVs obtains a wide range of attention in recent years, the fruits on formation control problem are less than ones on land multi-robot problems. For example, Fiorelli conducted a collaborative and adaptive sampling research of multi-AUV at the Monterey Bay [; Yu and Ura carried out the cable-based modular fast-moving and obstacle-avoidance experiments, and presented an interconnected multi-AUV system with three-dimension sensors. On the aspect of formation control framework [2-, [ proposed a four-layer cooperative control strategy based on hierarchical structure; [ proposed a hierarchical control framework based on hybrid model. In addition, Yang converted a nonholonomic system to a chain one and designed a controller to implement a leader-follower formation for multiple AUVs in [. The formation control for multiple autonomous underwater vehicles is rather different than the control methods for other vehicles, because the formation control for AUVs is of its characteristics, such as the large-scale distribution in space. The finite-time consensus controller designing based on finite-time control and consensus problem has important theoretical and practical significance. The decentralized controller methods for the autonomous underwater vehicle are applied more and more, but they ignore the coupling relationship between them. Another method is that an AUV is modeling as an agent, but this method ignores attitude characteristics of AUVs (pitch, roll and yaw). In this paper, we consider the cooperative control problem in three dimensional spaces. Finite-time formation for Autonomous Underwater Vehicles (AUVs) with constraints on communication range is investigated. We proposed a two-layer finite-time consensus control law, to avoid leading to collapse on formation because of failure leader, all AUVs are arrayed in the same level and each AUV can obtain global formation information. Finally, the simulation results show the effectiveness of the control strategy.

scholarly journals Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

2020 ◽  
Vol 8 (3) ◽  
pp. 181 ◽  
Author(s):  
Anyuan Bi ◽  
Fengye Zhao ◽  
Xiantao Zhang ◽  
Tong Ge
Keyword(s):  
Energy Saving ◽  
Long Range ◽  
Control Strategy ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Hierarchical Architecture ◽  
Low Speed ◽  
Depth Control ◽  
Type Variable ◽  
Inspection Tasks

Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-saving property to enable long-range missions. To this end, a combined depth control strategy is proposed in which an on-off type variable ballast system (VBS) is adopted for satisfactory hovering or fast descending/ascending without propulsion to reach the designated cruising depth, whereas the bow and stern fins act as the actuator to maintain the cruising depth for more energy saving. A hierarchical architecture-based VBS controller, which comprises a ballast water mass planner and an on-off mass flowrate controller, is developed to assure good hovering performance of the on-off type VBS. Both numerical studies and basin tests are conducted on a middle-sized AUV to verify the feasibility and validity of this depth control strategy.

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