A survey on path planning for persistent autonomy of autonomous underwater vehicles

Zeng, Zheng; Lian, Lian; Sammut, Karl; He, Fangpo; Tang, Youhong; Lammas, Andrew

doi:10.1016/j.oceaneng.2015.10.007

Cited by 188 publications

(92 citation statements)

References 67 publications

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“…Actually, the authors have already developed an underwater glider named after Seagull, 33 which will be applied for an ocean test in the near future. Another extension of this work is to develop an on-line planning scheme [34][35][36][37] that can be incorporated into a glider's guidance system to allow it to regenerate the trajectory during the course of the mission. 38,39…”

Section: Resultsmentioning

confidence: 99%

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Cao

Zeng

et al. 2016

International Journal of Advanced Robotic Systems

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In this article, an adaptive backstepping control is proposed for multi-input and multi-output nonlinear underwater glider systems. The developed method is established on the basis of the state-space equations, which are simplified from the full glider dynamics through reasonable assumptions. The roll angle, pitch angle, and velocity of the vehicle are considered as control objects, a Lyapunov function consisting of the tracking error of the state vectors is established. According to Lyapunov stability theory, the adaptive control laws are derived to ensure the tracking errors asymptotically converge to zero. The proposed nonlinear MIMO adaptive backstepping control (ABC) scheme is tested to control an underwater glider in saw-tooth motion, spiral motion, and multimode motion. The linear quadratic regular (LQR) control scheme is described and evaluated with the ABC for the motion control problems. The results demonstrate that both control strategies provide similar levels of robustness while using the proposed ABC scheme leads to the more smooth control efforts with less oscillatory behavior.

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Section: Resultsmentioning

confidence: 99%

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Cao

Zeng

et al. 2016

International Journal of Advanced Robotic Systems

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“…The control action v(ê) will be the outcome of a FHOCP solved for the nominal dynamics (22) while the state feedback law κ(·) is designed in order to guarantee that the real trajectory e(t) (i.e., the solution of (21)) always remain inside a bounded tube centered along the nominal trajectoryê(t) i.e., the solution of (22). Now let us define by z(t) = [z 1 (t), z 2 (t), z 3 (t)] , and then the deviation between the real error state and the nominal one is given as:…”

Section: B State Feedback Designmentioning

confidence: 99%

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Heshmati-alamdari

Νίκου

Dimarogonas

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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“…A large number of publications address the path-planning problem for AUVs. The reader can refer to the paper on [2] for a broad review on this topic. The trajectory-planning problem has at least two components: the planner and the controller.…”

Section: Introductionmentioning

confidence: 99%

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Muñoz-Aldana

Gaviria-López

2019

ITECKNE

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This article presents a virtual environment based on co-simulation between MatLab and MSC Adams, allowing simulation, analysis, development and validation of control strategies for tracking of position trajectories of a Remotely Operated Vehicle (ROV). The simulation results in the horizontal plane show that it is possible, in an uncomplicated way, to construct a virtual environment, which allows observing realistic movements when the forces exerted on an ROV are provided. Taking advantage of the properties of co-simulation, the experiences in this work show that this simulation strategy is very suitable for analysis purposes and control design, allowing researchers and professionals the wide use of control tools available in MATLAB for this end. In this work, a robust linear quadratic regulator (LQR) with integral action has been used to evaluate the performance of the proposed virtual environment for tracking of position trajectories. To validation purposes, widely used trajectories in naval study designs were employed such as the Zig -Zag shaped and the Circular shaped trajectories. Simulation results show that the integration of both, MatLab and MSC Adams, effectively addressees the problem of evaluation of performance of control strategies in the virtual environment. The presented approach allows gaining experience about the challenges of this kind of control problems, before dealing with the complex aspects of tuning in real experimental environments, avoiding losses and cost overruns for underwater robotics projects.

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A survey on path planning for persistent autonomy of autonomous underwater vehicles

Cited by 188 publications

References 67 publications

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

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