[PDF] Decoupled Modelling And Controller Design For The Hybrid Autonomous Underwater Vehicle eBook

Author : Sabiha Wadoo
Publisher : CRC Press
Page : 208 pages
File Size : 47,22 MB
Release : 2017-12-19
Category : Technology & Engineering
ISBN : 1351833928

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Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

Author : Jordi Domingo-Pascual
Publisher : Springer Science & Business Media
Page : 492 pages
File Size : 46,99 MB
Release : 2011-04-28
Category : Business & Economics
ISBN : 3642207561

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The two-volume set LNCS 6640 and 6641 constitutes the refereed proceedings of the 10th International IFIP TC 6 Networking Conference held in Valencia, Spain, in May 2011. The 64 revised full papers presented were carefully reviewed and selected from a total of 294 submissions. The papers feature innovative research in the areas of applications and services, next generation Internet, wireless and sensor networks, and network science. The first volume includes 36 papers and is organized in topical sections on anomaly detection, content management, DTN and sensor networks, energy efficiency, mobility modeling, network science, network topology configuration, next generation Internet, and path diversity.

Author :
Publisher :
Page : 99 pages
File Size : 17,50 MB
Release : 2007
Category :
ISBN :

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In this research, our goal has been to develop hierarchical hybrid mission control architecture for autonomous systems illustrating its application to autonomous underwater vehicle (AUV), verify the logical correctness of the controller designed, look into the feasibility of simulating the operations executed by the AUV, and automate controller synthesis. The correct operation of a system we design is a requirement. The challenge to develop a hierarchical hybrid mission controller for underwater vehicle which facilitates modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).

Author : Yang Shi
Publisher : Springer Nature
Page : 210 pages
File Size : 17,76 MB
Release : 2023-02-13
Category : Technology & Engineering
ISBN : 3031193547

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This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Author : George M. Roman
Publisher : Nova Science Publishers
Page : 109 pages
File Size : 28,78 MB
Release : 2020
Category : Technology & Engineering
ISBN : 9781536189674

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"Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--

Author : Jing Yan
Publisher : Springer Nature
Page : 222 pages
File Size : 46,99 MB
Release : 2021-11-01
Category : Technology & Engineering
ISBN : 9811660964

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Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.