[PDF] Dynamic Response And Maneuvering Strategies Of A Hybrid Autonomous Underwater Vehicle In Hovering eBook

Author : Lauren Alise Cooney
Publisher :
Page : 93 pages
File Size : 48,88 MB
Release : 2009
Category : Remote submersibles
ISBN :

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The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of azimuthing thrusters for maneuvering in surge and heave. An analytical model was developed to describe the complex nonlinear vehicle dynamics, and experiments were performed to refine this model. The fluid dynamics of unsteady azimuthing marine propulsors are largely unstudied, especially for small vehicles like the Odyssey IV AUV. Experiments suggest that thrust developed by an azimuthing propulsor is dependent on the azimuth angle rate of change, and can substantially affect vehicle dynamics. A simple model capturing the effects of azimuthing on the thruster dynamics is developed, and is shown to improve behavior of the model.The use of azimuthing thrusters presents interesting problems and opportunities in maneuvering and control. Nonlinear model predictive control (MPC) is a technique that consists of the real-time optimization of a nonlinear dynamic system model, with the ability to handle constraints and nonlinearities. In this work, several variations of simulated and experimental MPC-based controllers are investigated. The primary challenge in applying nonlinear MPC to the Odyssey IV is solving the time intensive trajectory optimization problem online. Simulations suggest that MPC is able to capitalize on its knowledge of the system, allowing more aggressive trajectories than a traditional PID controller.

Author :
Publisher :
Page : 8 pages
File Size : 21,42 MB
Release : 2006
Category :
ISBN :

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High-fidelity linear pitch and yaw dynamic models were developed for a class of autonomous underwater vehicles manufactured by Bluefin Robotics Corporation, based on analysis and field data. Classical control design was then carried out and successfully tested. An algorithm for automatic identification of these models, followed by automatic specification of gains, was developed and delivered to Bluefin. We also created modeling and control schemes for the ONR hovering autonomous underwater vehicle (HAUV), that was developed jointly by MIT and Bluefin; this vehicle has now successfully performed hull surveys on five vessels. Finally, we have applied stochastic simulation techniques to general control problems (which include vehicle maneuvering), illustrating new methods for assessing basic stability and for performing control gain selection in nonlinear systems.

Author : Kevin A. Torsiello
Publisher :
Page : 118 pages
File Size : 45,57 MB
Release : 1994
Category :
ISBN :

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The ability to take position, in a dynamic environment, relative to a local stationary object, is vital to many planned missions for the Naval Postgraduate School's Autonomous Underwater Vehicle (AUV II) project, such as bottom surveying and mine hunting. The AUV II can achieve this ability through the use of its sensors along with stem propulsion motors and tunnel thrusters. The sensors employed by the AUV II include a free directional gyro and independent self-sonar which provide acoustic positioning data without the aid of a transponder net. Described in this thesis are the details of the internal subsystems of the AUV II, and an examination of its positioning ability through the analysis of maneuvering experiments. Commanded motions of yaw, lateral and longitudinal positioning during hover conditions are studied.

Author : Gianluca Antonelli
Publisher : Springer
Page : 294 pages
File Size : 22,37 MB
Release : 2013-11-22
Category : Technology & Engineering
ISBN : 3319028774

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This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Author : Gwyn Griffiths
Publisher : CRC Press
Page : 369 pages
File Size : 23,83 MB
Release : 2002-11-28
Category : Technology & Engineering
ISBN : 0203522303

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The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

Author : Bo Li
Publisher :
Page : 262 pages
File Size : 14,46 MB
Release : 2016
Category : Differentiable dynamical systems
ISBN :

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This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontal plane motion. The demand for high-performance AUVs are growing in the eld of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative flows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coefficients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real uid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling effects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.

Author : Yang Shi
Publisher : Springer Nature
Page : 210 pages
File Size : 37,2 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 :
Publisher :
Page : 179 pages
File Size : 46,89 MB
Release : 1992
Category :
ISBN :

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The experimental response data from autonomous maneuvering using the NPS AUV II vehicle has been analyzed with a view to defining Kalman filters to provide on-line estimates of system parameters and their variability. Kalman filters, designed for parameter estimation are expected to be the first step in the development of autonomous fault detection systems for underwater vehicles. Secondly, extraction of vehicle hydrodynamic coefficients from these parameters can help to develop vehicle dynamic simulators. Thirdly, knowledge of these parameters will allow the design of improved autopilot and guidance laws.

Author : Sabiha Wadoo
Publisher : CRC Press
Page : 208 pages
File Size : 19,11 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 : Duane T. Davis
Publisher :
Page : 206 pages
File Size : 33,55 MB
Release : 1996-09-01
Category : Autonomous robots
ISBN : 9781423576518

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Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.