GA Optimized Formation Control of Autonomous Underwater Vehicles

2018 ◽  
Author(s):  
Mansour Karkoub ◽  
Lotfi Romdhane
Keyword(s):  
Trajectory Tracking ◽  
Formation Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Optimization Procedure ◽  
Nonlinear Controller ◽  
Parameter Variations ◽  
Formation Keeping ◽  
Robust Nonlinear Controller

In this paper, an optimization procedure is derived to find the best controller for the trajectory-tracking of an autonomous underwater vehicle (AUV) subject to uncertainties (e.g., current disturbances, un-modeled dynamics and parameter variations). The proposed algorithm is based on the dynamic model of the system and a recently proposed controller called Hierarchical Robust Nonlinear Controller (HRNC). The first objective is to find the best values for the controller gains to achieve trajectory tracking of the leader AUV. Starting from a random configuration, the leader AUV and the five followers make and keep a given formation all along the trajectory. A multi-objective optimization, based on genetic algorithms, is used here. A star formation with 6 AUVs is used as a case study to test the proposed algorithm. Simulation results show that the optimized controller gains led to successful formation keeping along the selected path with relatively minimum controller output toques.

scholarly journals Updating Autonomous Underwater Vehicle Risk Based on the Effectiveness of Failure Prevention and Correction

2018 ◽  
Vol 35 (4) ◽  
pp. 797-808 ◽  
Author(s):  
Mario P. Brito ◽  
Gwyn Griffiths
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Risk Mitigation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Probability Of Failure ◽  
Risk Profile ◽  
Failure Prevention ◽  
Significant Difference

AbstractAutonomous underwater vehicles (AUVs) have proven to be feasible platforms for marine observations. Risk and reliability studies on the performance of these vehicles by different groups show a significant difference in reliability, with the observation that the outcomes depend on whether the vehicles are operated by developers or nondevelopers. This paper shows that this difference in reliability is due to the failure prevention and correction procedures—risk mitigation—put in place by developers. However, no formalization has been developed for updating the risk profile based on the expected effectiveness of the failure prevention and correction process. A generic Bayesian approach for updating the risk profile is presented, based on the probability of failure prevention and correction and the number of subsequent deployments on which the failure does not occur. The approach, which applies whether the risk profile is captured in a parametric or nonparametric survival model, is applied to a real case study of the International Submarine Engineering Ltd. (ISE) Explorer AUV.

Control Design for the Active Stabilization of Rail Wheelsets

2007 ◽  
Vol 130 (1) ◽  
Author(s):  
T. X. Mei ◽  
H. Li
Keyword(s):  
Design Method ◽  
Control Design ◽  
Optimization Procedure ◽  
Control Analysis ◽  
Design And Optimization ◽  
Stabilization Control ◽  
Number Of Factors ◽  
Parameter Variations ◽  
Active Stabilization

Through a detailed control assessment of a conventional railway wheelset, this paper addresses some of the key design issues in the development of active primary suspensions for the stabilization control of railway vehicles. It reveals the basic feedback requirements for achieving adequate stability and hence provides a useful insight of how active controllers may be structured. For the control design, a number of factors in addition to the stabilization are considered including the actuation requirements, creep forces at the wheel-rail contact, track following as well as robustness against parameter variations. Based on the outcome of the control analysis, the study proposes a design and optimization procedure for the development of active wheelset control. The design method is applied to a two-axle vehicle in a case study, which shows that the new design approach is advantageous when compared with other design methods previously studied.

Three-dimensional leader–follower formation control of multiple autonomous underwater vehicles based on line-of-sight measurements using the backstepping method

2018 ◽  
Vol 232 (7) ◽  
pp. 819-829 ◽  
Author(s):  
Shikun Pang ◽  
Jian Wang ◽  
Jingyang Liu ◽  
Hong Yi
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Line Of Sight ◽  
Backstepping Method ◽  
Virtual Reference ◽  
On Line ◽  
Backstepping Controller

This article presents the three-dimensional leader–follower formation control strategy of multiple autonomous underwater vehicles on the basis of line-of-sight measurement. Sensors on autonomous underwater vehicles can measure line-of-sight range and bearing information, and autonomous underwater vehicles in formation do not require mutual exchange with one another, which could avoid the problem of data transmission delay. The proposed Lyapunov-based backstepping approach is developed for the formation controller. The backstepping controller propels the follower autonomous underwater vehicles to follow the desired virtual reference route provided according to the range and bearing information of the leader autonomous underwater vehicle and the predetermined formation. Simulation results indicate that follower autonomous underwater vehicles can travel along the desired route and successfully achieve the designed formation shape. The effectiveness of the employed method is validated.

Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle

2013 ◽  
Vol 798-799 ◽  
pp. 484-488 ◽  
Author(s):  
Lei Wan ◽  
Nan Sun ◽  
Yu Lei Liao
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underactuated System ◽  
Strong Nonlinearity ◽  
Parameter Uncertainties ◽  
Path Following Control

The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.

scholarly journals A leader–follower formation control approach for target hunting by multiple autonomous underwater vehicle in three-dimensional underwater environments

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141987066 ◽  
Author(s):  
Xiang Cao ◽  
Liqiang Guo
Keyword(s):  
Formation Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Control Approach ◽  
Challenging Tasks ◽  
System Use ◽  
Neural Network Algorithm

As one of the challenging tasks of multiple autonomous underwater vehicles systems, the realization of target hunting is the great significance. The multiple autonomous underwater vehicle target hunting is studied in this article. In some research, because the hunting members cannot reach the hunting point at the same time, the hunting time is long or the target escapes. To improve the efficiency of the target hunting, the leader–follower formation algorithm is introduced. Firstly, the task is assigned based on the distance between the autonomous underwater vehicle and the target. Then, the autonomous underwater vehicles with the same task are formed based on leader–follower mode, and the formation is kept to track the target. In the final capture phase, multiple autonomous underwater vehicle system use angle matching algorithm to round up target. The simulation results show that the proposed algorithm can effectively accomplish the target hunting task, save the hunting time, and avoid the target escape. Compared with the bioinspired neural network algorithm, the proposed algorithm shows better performance.

Robust Tracking Control of Autonomous Underwater Vehicles in the Presence of Disturbance Inputs

2009 ◽  
Author(s):  
S. Singh ◽  
A. Sanyal ◽  
R. Smith ◽  
N. Nordkvist ◽  
M. Chyba
Keyword(s):  
Feedback Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Open Loop ◽  
Robust Tracking Control ◽  
Trajectory Tracking Control ◽  
Loop Control ◽  
Control Scheme

An autonomous underwater vehicle (AUV) is expected to operate in an ocean in the presence of poorly known disturbance forces and moments. The uncertainties of the environment makes it difficult to apply open-loop control scheme for the motion planning of the vehicle. The objective of this paper is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances. We solve a general problem of feedback trajectory tracking of an AUV in SE (3). The feedback control scheme is derived using Lyapunov-type analysis. The results obtained from numerical simulations confirm the asymptotic tracking properties of the feedback control law. We apply the feedback control scheme to different mission scenarios, with the disturbances being initial errors in the state of the AUV.

scholarly journals A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

2020 ◽  
Vol 26 (4) ◽  
pp. 4-10
Author(s):  
Abdullah Basci ◽  
Adnan Derdiyok ◽  
Kaan Can ◽  
Kamil Orman
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Parameter Variations ◽  
Aerial Vehicle

In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory

scholarly journals An Improved Localization Method for the Transition between Autonomous Underwater Vehicle Homing and Docking

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2468
Author(s):  
Ri Lin ◽  
Feng Zhang ◽  
Dejun Li ◽  
Mingwei Lin ◽  
Gengli Zhou ◽  
...  
Keyword(s):  
Data Exchange ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Optimization Method ◽  
Short Baseline ◽  
Localization Accuracy ◽  
Localization Method ◽  
Mapping Algorithm ◽  
Localization And Mapping ◽  
Update Rate

Docking technology for autonomous underwater vehicles (AUVs) involves energy supply, data exchange and navigation, and plays an important role to extend the endurance of the AUVs. The navigation method used in the transition between AUV homing and docking influences subsequent tasks. How to improve the accuracy of the navigation in this stage is important. However, when using ultra-short baseline (USBL), outliers and slow localization updating rates could possibly cause localization errors. Optical navigation methods using underwater lights and cameras are easily affected by the ambient light. All these may reduce the rate of successful docking. In this paper, research on an improved localization method based on multi-sensor information fusion is carried out. To improve the localization performance of AUVs under motion mutation and light variation conditions, an improved underwater simultaneous localization and mapping algorithm based on ORB features (IU-ORBSALM) is proposed. A nonlinear optimization method is proposed to optimize the scale of monocular visual odometry in IU-ORBSLAM and the AUV pose. Localization tests and five docking missions are executed in a swimming pool. The localization results indicate that the localization accuracy and update rate are both improved. The 100% successful docking rate achieved verifies the feasibility of the proposed localization method.

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