Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle

2002 ◽  
Author(s):  
T. Prestero
Keyword(s):  
Simulation Model ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

scholarly journals SIMPLIFICATION AND VERIFICATION OF DYNAMIC EQUATIONS OF MOVEMENT OF AN AUTONOMUS UNDERWATER VEHICLE

2019 ◽  
pp. 43-48
Author(s):  
Martin Varga
Keyword(s):  
Simulation Model ◽  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Computer Modelling ◽  
Real Life ◽  
Underwater Vehicle ◽  
Industrial Robots ◽  
Experimental Results ◽  
Dynamic Equations ◽  
Basic Step

Urgency of the research. Currently, most machines go through computer modelling and simulation phase in their development cycle. The ability to formulate simple yet effective models helps to both decrease development cost and time. Target setting. Today many tasks are being accomplished by robots whether mobile robots or industrial robots. To simulate the behaviour of these robots a dynamic model is needed. These models can be very complex and the parameters to fill all the equations can be difficult to find, therefore simplifications need to be implemented and verified so that the models are still accurate. Actual scientific researches and issues analysis. A basic step in the development of new products is the simulation and modeling phase. Development of a computer model prior to development of a physical prototype saves time and resources. Unfortunately, some models can be very complex and require parameters only acquirable from tests on physical systems. That is why often these models need to be heavily simplified which can lead to imprecise results. Often, verification of the model is needed. One of such systems is the dynamic model of an Autonomous underwater vehicle (AUV). Uninvestigated parts of general matters defining. This article focuses on verification of a highly simplified dynamic simulation model of AUV. The research objective. The aim of these research was to model a simplified dynamic model of an AUV moving through fluid with nonnegligible viscous properties and verifie the model by comparing simulation results with experimental results obtained by testing on the real AUV. The statement of basic materials. The analysis consists of an attempt to summarise the possible ways to simplify a general dynamic equation for movement of an AUV in a fluid with nonnegligible viscous properties and showing, that even such simplified model stays usable and bring with it reduction in complexity. Conclusions. This article shows the basic dynamic equations for describing the movement of a general AUV in a fluid with nonnegligible viscous properties and the possible simplification of this equation in regard to a specific construction of a real world AUV. The results gathered from the simulation model are then compared to experimental results performed on the physical AUV with the conclusion, that both datasets are matching within reasonable margins. This article serves as a good reminder of the importance and benefits of well establishing simplifications in a model of a real-life system.

scholarly journals Stability and nonlinear controllability analysis of a quadrotor-like autonomous underwater vehicle considering variety of cases

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881940 ◽  
Author(s):  
Liwei Kou ◽  
Ji Xiang ◽  
Yanjun Li ◽  
Jingwei Bian
Keyword(s):  
Horizontal Plane ◽  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Plane Motion ◽  
Small Time ◽  
Degree Of Freedom ◽  
Local Controllability ◽  
Actuation System ◽  
Nonlinear Controllability

A quadrotor-like autonomous underwater vehicle that is similar to, yet different from quadrotor unmanned aerial vehicles, has been reported recently. This article investigates the stability and nonlinear controllability properties of the vehicle. First, the 12-degree-of-freedom model of the vehicle deploying an X shape actuation system is developed. Then, a stability property is investigated showing that the vehicle cannot be stabilized by a time invariant smooth state feedback law. After that, by adopting a nonlinear controllability analysis tool in geometric control theory, the small-time local controllability of the vehicle is analyzed for a variety of cases, including the vertical plane motion, the horizontal plane motion, and the three-dimensional space motion. Finally, different small-time local controllability conditions for different cases are developed. The result shows that the small-time local controllability holds for vertical plane motion and horizontal plane motion. However, the full degree of freedom kinodynamics model (i.e. 12 states) of the vehicle does not satisfy the small-time local controllability from zero-velocity states.

scholarly journals ESTIMASI GERAK TRANSLASI AUTONOMOUS UNDERWATER VEHICLE DENGAN ENSEMBLE KALMAN FILTER (EnKF)

2018 ◽  
Vol 2 (1) ◽  
pp. 41
Author(s):  
Teguh Herlambang ◽  
Subchan Subchan
Keyword(s):  
Kalman Filter ◽  
Ensemble Kalman Filter ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Degree Of Freedom

Penelitian dan pengembangan dari Autonomous Underwater Vehicle cukup banyak diantaranya terkait sistem kendali, navigasi dan hidrodinamika. Pada umunya persamaan gerak AUV adalah 6 derajat kebebasan/Degree of Freedom (DOF) yang terdiri dari gerak translasi (surge, sway, heave) dan gerak rotasi (roll, pitch, yaw). Pada paper ini dikembangkan metode estimasi gerak tranlasi dari ITSUNUSA AUV dengan metode Ensemble Kalman Filter. Pada paper ini juga dibandingkan berdasarakn pembangkian julah ensemble. Hasil simulasi menunjukkan bahwa yang terakurat adalah dengan membangkitkan 300 ensemble dengan error kecepatan untuk gerak surge adalah 0,082%, gerak sway 0.498% dan gerak heave 0.26%.

L1 adaptive pitch control of an autonomous underwater vehicle

2014 ◽  
Vol 2 (2) ◽  
pp. 107-120 ◽  
Author(s):  
Pouria Sarhadi ◽  
Abolfazl Ranjbar Noei ◽  
Alireza Khosravi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Autonomous Systems ◽  
Adaptive Controller ◽  
Underwater Vehicle ◽  
Operating Conditions ◽  
Content Type ◽  
Practical Applications ◽  
Bounded Disturbances ◽  
Six Degree Of Freedom ◽  
First Time

Purpose – The purpose of this paper is to show the application of an L1 adaptive controller to control an autonomous underwater vehicle (AUV), considering realistic perturbations. Design/methodology/approach – In this paper, an L1 adaptive controller is proposed to control the pitch channel of an AUV, for the first time. Based on a six degree of freedom (6-DOF) nonlinear equations, an appropriate linear model considering real perturbations is derived for the pitch channel of AUV. Then L1 adaptive controller is applied on the model in the presence of the bounded disturbances and uncertainties. For this purpose, verified parameters of the REMUS AUV have been considered. Several simulations are performed in different operating conditions. Findings – The results confirm the quality of the proposed method in various situations. Furthermore, it is shown that the L1 adaptive controller is potential to contribute in practical applications of AUVs such as other autonomous systems. Originality/value – This is the first time that this method has been applied to an AUV.

A unified force control approach to autonomous underwater manipulation

Robotica ◽  
2001 ◽  
Vol 19 (3) ◽  
pp. 255-266 ◽  
Author(s):  
Yong Cui ◽  
Nilanjan Sarkar
Keyword(s):  
Force Control ◽  
Autonomous Underwater Vehicle ◽  
Hybrid Control ◽  
Impedance Control ◽  
Underwater Vehicle ◽  
Robotic System ◽  
Control Approach ◽  
Control Scheme ◽  
Underwater Manipulation ◽  
Six Degree Of Freedom

A unified force control scheme for an autonomous underwater robotic system is proposed in this paper. This robotic system is composed of a six degree-of-freedom autonomous underwater vehicle (AUV) and a robotic arm that is mounted on the AUV. A unified force control approach, which combines impedance control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation, is presented in this paper. This controller requires a dynamic model of the underwater vehicle-manipulator system. However, it does not require any model of the environment and therefore will have the potential to be useful in underwater tasks where the environment is generally unknown. The proposed approach combines the advantages of impedance control with hybrid control so that both smooth contact transition and force trajectory tracking can be achieved. In the absence of any functional autonomous underwater vehicle-manipulator system that can be used to verify the proposed controller, extensive computer simulations are performed and the results are presented in the paper.

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