scholarly journals Dynamic Neural Network-Based Adaptive Tracking Control for an Autonomous Underwater Vehicle Subject to Modeling and Parametric Uncertainties

2021 ◽  
Vol 11 (6) ◽  
pp. 2797
Author(s):  
Filiberto Muñoz ◽  
Jorge S. Cervantes-Rojas ◽  
Jose M. Valdovinos ◽  
Omar Sandre-Hernández ◽  
Sergio Salazar ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Neural Control ◽  
Autonomous Underwater Vehicle ◽  
Parametric Uncertainty ◽  
Underwater Vehicle ◽  
Added Mass ◽  
Parametric Estimation ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Adaptive Tracking Control

This research presents a way to improve the autonomous maneuvering capability of a four-degrees-of-freedom (4DOF) autonomous underwater vehicle (AUV) to perform trajectory tracking tasks in a disturbed underwater environment. This study considers four second-order input-affine nonlinear equations for the translational (x,y,z) and rotational (heading) dynamics of a real AUV subject to hydrodynamic parameter uncertainties (added mass and damping coefficients), unknown damping dynamics, and external disturbances. We proposed an identification-control scheme for each dynamic named Dynamic Neural Control System (DNCS) as a combination of an adaptive neural controller based on nonparametric identification of the effect of unknown dynamics and external disturbances, and on parametric estimation of the added mass dependent input gain. Several numerical simulations validate the satisfactory performance of the proposed DNCS tracking reference trajectories in comparison with a conventional feedback controller with no adaptive compensation. Some graphics showing dynamic approximation of the lumped disturbance as well as estimation of the parametric uncertainty are depicted, validating effective operation of the proposed DNCS when the system is almost completely unknown.

scholarly journals Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Mohan Santhakumar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Dynamics And Control ◽  
And Control

This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.

scholarly journals NonlinearH∞Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Zool H. Ismail ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Underwater Vehicle ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Region Tracking

A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinearH∞and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

scholarly journals Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142090963
Author(s):  
Tianqi Xie ◽  
Ye Li ◽  
Yanqing Jiang ◽  
Li An ◽  
Haowei Wu
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Time Varying ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

Autonomous Underwater Vehicle Control in Presence of Waves

2008 ◽  
Author(s):  
L. Moreira ◽  
C. Guedes Soares
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Equations Of Motion ◽  
Wave Force ◽  
Underwater Vehicle ◽  
Principle Of Superposition ◽  
Wave Disturbances ◽  
Underwater Vehicle Control ◽  
Different Depths ◽  
6 Degrees Of Freedom

In this paper, the 6 degrees of freedom equations of motion of an autonomous underwater vehicle (AUV) are described as a linear model and divided into three non-interacting (or lightly interacting) subsystems for speed control, steering and diving. In addition to the model of the AUV dynamics, the first and the second order wave force disturbances, i.e. the Froude-Kriloff and diffraction forces are introduced. Based on the principle of superposition it is possible to represent the AUV dynamics as the sum of low and high frequency motions. An algorithm of non-linear regression for the rationalization of the sub-surface sea spectrum is provided. Two different control designs, based on H2 and H∞ methodologies, were applied to the diving and course control of the vehicle considering the presence of the wave disturbances. The work is based on the slender form of the Naval Postgraduate School AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes and a stern plane. The wave effect on the corresponding motions of the underwater vehicle is analyzed and evaluated considering the AUV operating at different depths and different sea states using both controllers. The model presented here can be a useful simulation tool to predict the underwater vehicles behavior in different mission scenarios.

Design of Robust Nonlinear Optimal Controller for Underwater Vehicle to Move in Depth Channel Using Gradient Descent Method with Systematic Step Selection

2014 ◽  
Vol 704 ◽  
pp. 320-324
Author(s):  
Marzieh Ahmadi ◽  
Abolfazl Halvaei Niasar ◽  
Alireza Faraji ◽  
Hassan Moghbeli
Keyword(s):  
Gradient Descent ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Parametric Uncertainty ◽  
Underwater Vehicle ◽  
Descent Method ◽  
Optimal Controller ◽  
Gradient Descent Method ◽  
Six Degrees Of Freedom ◽  
Step Selection

This paper proposes the design of a robust nonlinear optimal controller to move the underwater vehicle in the depth channel using gradient descent method. A nonlinear model with six degrees of freedom (6-DOF) has been extracted for the underwater vehicle. To selection of the model and design of controller, conventional assumptions used for other controllers have not been considered and the developed controller can be implemented via at least assumptions. In presented control method, systematic step selection for solving of the algorithm has increased the rate of convergence significantly. The performances of the proposed robust controller for moving in depth channel with considering of parametric uncertainty for the model have been confirmed via some simulations. The results show the desirable performance of developed controller.

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

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