3-Dimensional Modeling and Attitude Control of Multi-Joint Autonomous Underwater Vehicles

Abstract

To achieve rapid and flexible vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with orthogonal joints was designed. This paper focuses on the 3-dimensional (3D) modeling and attitude control of the designed vehicle. Considering the situation of gravity and buoyancy imbalance, a 3D model of the MJ-AUV was established according to Newton’s second law and torque balance principle. And then the numerical simulation was carried out to verify the credibility of the model. To solve the problems that the pitch and yaw attitude of the MJ-AUV are coupled and the disturbance is unknown, a linear quadratic regulator (LQR) decoupling control method based on a linear extended state observer (LESO) was proposed. The system was decoupled into pitch and yaw subsystems, treated the internal forces and external disturbances of each subsystem as total disturbances, and estimated the total disturbances with LESO. The control law was divided into two parts. The first part was the total disturbance compensator, while the second part was the linear state feedback controller. The simulation results show that the overshoot of the controlled system in the dynamic process is nearly 0 rad, reaching the design value very smoothly. Moreover, when the controlled system is in a stable state, the control precision is within 0.005%.

Automatic Control and Routing of Marine Vessels

“…Yu et al [5] discussed the problem of modeling and control of multi-joint autonomous underwater vehicles (MJ-AUV). The considered MJ-AUV is a multi-input and multi-output system, where the variation of two joint angles is the input and the pitch and yaw angles of the body is the output.…”

Inertial Gyro Wave Energy Conversion Nonlinear Modeling and Power‐Index Predictive Control for Autonomous Ship

“…e control of Unmanned Surface Vehicle (USV) is challenging due to the unpredictable disturbances from the complex ocean environment, the model uncertainties, and the signal tremor caused by the controller [1][2][3]. Among them, the wave disturbance exerted on the unmanned vehicle during the navigation should be paid more attention [4][5][6][7]. In order to reduce the influence of waves on the rolling motion of the ship when it is stationary or sailing in the ocean, gyro antirolling technology has become a feasible solution.…”