Mu-Synthesis Depth Controller Design for a Small Autonomous Underwater Vehicle

2012 ◽  
Vol 15 (1) ◽  
pp. 202-209 ◽  
Author(s):  
Mai Ba Loc ◽  
Hyeung-Sik Choi ◽  
Sam-Sang You ◽  
Joonyoung Kim ◽  
Yun-Hae Kim
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Mu Synthesis

Identification of Underwater Vehicle Hydrodynamic Coefficients Using Model Tests

2010 ◽  
Author(s):  
B. Sadeghzadeh ◽  
H. Mehdigholi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Model Tests ◽  
Vehicle Design ◽  
Hydrodynamic Coefficients ◽  
Test Results ◽  
Engineering Research ◽  
University Of Technology ◽  
Marine Engineering

Predicting the hydrodynamic coefficients of an autonomous underwater vehicle (AUV) is important during vehicle design. SUT-2 is an AUV, being developed by the Marine Engineering Research Center of Sharif University of Technology in Iran (MERC). Model tests are done in the marine engineering laboratory towing tank. In this research, hydrodynamic coefficients are calculated using model test results of an autonomous underwater vehicle. Hydrodynamic forces are also analyzed. These coefficients are used for dynamic modeling and autonomous controller design.

Admissibility analysis for autonomous underwater vehicle based on descriptor model with time-varying delay

2021 ◽  
pp. 107754632110300
Author(s):  
Mohammad Hedayati Khodayari ◽  
Naser Pariz ◽  
Saeed Balochian
Keyword(s):  
Time Delay ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Actuator Saturation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Attraction Domain ◽  
Linear Matrix ◽  
Delay Model ◽  
Time Varying Delay

This article investigates an enhanced optimal robust time-delay stabilizer for an autonomous underwater vehicle in the descriptor model. Time-delay, model uncertainty, and actuator saturation constraint are some practical challenges in autonomous underwater vehicle controller design. In this regard, an appropriate autonomous underwater vehicle descriptor model is obtained, and sufficient stabilization conditions are determined in the terms of linear matrix inequality. The obtained criterion guarantees the system to be regular, impulse-free, and stable. Meanwhile, the delay-dependent and rate-dependent conditions are taken into account. Furthermore, uncertainty and time-delay are time-variant. This method includes a tuning factor for practical design aspects and tradeoff among desired requirements. Also, as an essential general requirement in non-linear systems, the maximal estimate of the attraction domain is proposed as an optimization problem. Numerical examples and simulations illustrate that the proposed methods are effective and useful in less conservative results. The technique can be generalized and applied to the most conventional autonomous underwater vehicles.

Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances

2016 ◽  
Vol 63 (2) ◽  
pp. 1052-1061 ◽  
Author(s):  
Jongkyoo Kim ◽  
Hangil Joe ◽  
Son-cheol Yu ◽  
Jin S. Lee ◽  
Minsung Kim
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle
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