A new approach for three-dimensional trajectory tracking control of under-actuated AUVs with model uncertainties

Thanh, Pham Nguyen Nhut; Tam, Phan Minh; Ánh, Hồ Phạm Huy

doi:10.1016/j.oceaneng.2021.108951

Cited by 27 publications

(4 citation statements)

References 33 publications

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“…where M denotes the inertia matrix; C(ν),D(ν) and J(η) present the Coriolis-centripetal matrix, damping matrix, and vector of gravity forces, respectively; ν is described in frame {b} respective to the linear and angular acceleration vectors; τ d denotes the constant and time-varying disturbances induced by waves and ocean currents; τ is the vector of the control input. According to [34], the 6-DOF dynamic model of the AUV in (2) can be expanded as:…”

Section: Dynamic Model Of Auvmentioning

confidence: 99%

Data-Driven Fault Detection of AUV Rudder System: A Mixture Model Approach

Zhang

Zhang²,

Yan

et al. 2023

Machines

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Based on data-driven and mixed models, this study proposes a fault detection method for autonomous underwater vehicle (AUV) rudder systems. The proposed method can effectively detect faults in the absence of angle feedback from the rudder. Considering the parameter uncertainty of the AUV motion model resulting from the dynamics analysis method, we present a parameter identification method based on the recurrent neural network (RNN). Prior to identification, singular value decomposition (SVD) was chosen to denoise the original sensor data as the data pretreatment step. The proposed method provides more accurate predictions than recursive least squares (RLSs) and a single RNN. In order to reduce the influence of sensor parameter errors and prediction model errors, the adaptive threshold is mentioned as a method for analyzing prediction errors. In the meantime, the results of the threshold analysis were combined with the qualitative force analysis to determine the rudder system’s fault diagnosis and location. Experiments conducted at sea demonstrate the feasibility and effectiveness of the proposed method.

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Section: Dynamic Model Of Auvmentioning

confidence: 99%

Data-Driven Fault Detection of AUV Rudder System: A Mixture Model Approach

Zhang

Zhang²,

Yan

et al. 2023

Machines

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“…In Tran et al (2021), the author extensively integrated the pitch control system on the VBS system and designed the hybrid vehicle – AUV2000. In Nhut Thanh et al (2021), the authors analyze more about the performance of the AUV2000. This approach improves the functioning of the VBS, but it only gives a tiny amount of buoyancy change and lacks the extensibility to adjust the maximum buoyancy on demand.…”

Section: Introductionmentioning

confidence: 99%

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Xia,

Li,

Zang

et al. 2024

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Purpose A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller. Design/methodology/approach The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments. Findings The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances. Practical implications A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications. Originality/value This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

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“…In fact, due to the cost and size of AUVs, it is difficult for sensors inside them to obtain speed information in harsh marine environments. A nonlinear disturbance observer was proposed to deal with the roll motion's effect and uncertain nonlinear model features of AUVs [26]. The extended state observer was constructed in [27] to estimate the unknown velocities and disturbances of marine surface vessels and a finitetime output feedback controller was obtained.…”

Section: Introductionmentioning

confidence: 99%

An Observer-Based Adaptive Neural Network Finite-Time Tracking Control for Autonomous Underwater Vehicles via Command Filters

Guo,

Wang,

2023

Drones

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Due to the hostile marine environment, there will inevitably be unpredictable factors during the operation of unmanned underwater vehicles, including changes in ocean currents, hull dimensions, and velocity measurement uncertainties. An improved finite-time adaptive tracking control issue is considered for autonomous underwater vehicles (AUVs) with uncertain dynamics, unknown external disturbances, and unavailable speed information. A state observer is designed to estimate the position and velocity of the vehicle via a neural network (NN) approach. The NN is used to estimate uncertainties and external disturbances. A finite-time controller is designed via backstepping and command filter techniques. A multi-input multi-output (MIMO) filter for AUVs is established, and the corresponding MIMO filter compensation signal is constructed to eliminate the effect of filtering error. All the signals of the closed-loop system are proved to be finite-time bounded. An example with comparison is given to show the effectiveness of our method.

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A new approach for three-dimensional trajectory tracking control of under-actuated AUVs with model uncertainties

Cited by 27 publications

References 33 publications

Data-Driven Fault Detection of AUV Rudder System: A Mixture Model Approach

Data-Driven Fault Detection of AUV Rudder System: A Mixture Model Approach

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

An Observer-Based Adaptive Neural Network Finite-Time Tracking Control for Autonomous Underwater Vehicles via Command Filters

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