scholarly journals Control System of Underwater Vehicle Based on Artificial Intelligence Methods

10.5772/6110 ◽  
2008 ◽  
Author(s):  
Piotr Szymak ◽  
Jozef Malecki
Keyword(s):  
Artificial Intelligence ◽  
Control System ◽  
Underwater Vehicle ◽  
Artificial Intelligence Methods

The Basic Control System of an Ocean Exploration AUV

2013 ◽  
Vol 411-414 ◽  
pp. 1757-1761 ◽  
Author(s):  
Lei Zhang ◽  
Da Peng Jiang ◽  
Jin Xin Zhao
Keyword(s):  
Artificial Intelligence ◽  
Control System ◽  
System Architecture ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Artificial Intelligence System ◽  
Intelligence System ◽  
Ocean Exploration ◽  
Ocean Environment ◽  
Control System Architecture

Autonomous Underwater Vehicle (AUV) which could finish autonomous mission process is paid more and more attention. As an artificial intelligence system, AUV has high independence, reliability and adaptability to ocean environment. An efficient architecture of AUV plays an important roll in achieving those properties. A newly developed AUV, ZT-AUV, which is used for ocean exploring, is introduced. And its basic control system architecture is depicted. Both the hardware and software in the control system are described. Finally, the experiments in tank and those at sea are conducted to test the architecture and the methods of the control system, and the results prove that the control system of the AUV is reliable, flexible and extensible.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

Application of artificial intelligence methods for monsoonal river classification in Selangor river basin, Malaysia

2021 ◽  
Vol 193 (7) ◽  
Author(s):  
Yong Jie Wong ◽  
Yoshihisa Shimizu ◽  
Akinori Kamiya ◽  
Luksanaree Maneechot ◽  
Khagendra Pralhad Bharambe ◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
River Basin ◽  
River Classification ◽  
Artificial Intelligence Methods
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