Control design for a multi-regime 6-DOF underwater vehicle; development of MARIN’s modular AUV

Kruif, B.J. de; Cozijn, Hans; Schaaf, Haite van der; Ypma, Egbert

doi:10.1016/j.ifacol.2019.12.312

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…Additionally, a moveable mass and a buoyancy trim system is integrated. It is controlled using a state feedback based PID controller based on proprioceptive sensors ( De Kruif et al, 2019 ). The AUV SAM, on the other hand, is underactuated having only one thruster with two counter-rotating blades at the stern, and a moveable mass, rotating weights and a buoyancy trim system for roll, pitch, and depth control as stated by Bhat et al ( Bhat et al, 2022 ).…”

Section: Current Technologymentioning

confidence: 99%

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention.

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Section: Current Technologymentioning

confidence: 99%

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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“…For the most part, feedback controllers are built individually for each body axis, with little consideration given to coupling between degrees of freedom [22]. On the other hand, MIMO control strategies such as sliding mode [23,24], nonlinear backstepping control of an open frame hybrid ROV [15], and µ-synthesis for the Marvin modular AUV [25] have been investigated, albeit in simulations. In contrast, this work not only presents classical control design with robustness analysis along with MPA-tuned MIMO control designs in simulation but also demonstrates the real-time control of the MicroROV in a pool environment, which is another important contribution of this work.…”

Section: Introductionmentioning

confidence: 99%

Cross-Coupled Dynamics and MPA-Optimized Robust MIMO Control for a Compact Unmanned Underwater Vehicle

Tanveer

Ahmad

2023

JMSE

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A compact, 3-degrees-of-freedom (DoF), low-cost, remotely operated unmanned underwater vehicle (UUV), or MicroROV, is custom-designed, developed, instrumented, and interfaced with a PC for real-time data acquisition and control. The nonlinear equations of motion (EoM) are developed for the under-actuated, open-frame, cross-coupled MicroROV utilizing the Newton-Euler approach. The cross-coupling between heave and yaw motion, an important dynamic of a class of compact ROVs that is barely reported, is investigated here. This work is thus motivated towards developing an understanding of the physics of the highly coupled compact ROV and towards developing model-based stabilizing controllers. The linearized EoM aids in developing high-fidelity experimental data-driven transfer function models. The coupled heave-yaw transfer function model is improved to an auto-regressive moving average with exogenous input (ARMAX) model structure. The acquired models facilitate the use of the multi-parameter root-locus (MPRL) technique to design baseline controllers for a cross-coupled multi-input, multi-output (MIMO) MicroROV. The controller gains are further optimized by employing an innovative Marine Predator Algorithm (MPA). The robustness of the designed controllers is gauged using gain and phase margins. In addition, the real-time controllers were deployed on an onboard embedded system utilizing Simulink′s automatic C++ code generation capabilities. Finally, pool tests of the MicroROV demonstrate the efficacy of the proposed control strategy.

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“…The combination of the above control modes tends to have good maneuverability [12][13] , but the economical efficiency and control complexity have to be considered to plan the control strategy. Based on the above problems, this paper proposes a novel structure and rudder control maneuvering strategy and then builds a prototype that can simulate the movement of fins to enable the UVs to adjust their heading at various speeds.…”

Section: Introductionmentioning

confidence: 99%

Design of an Underwater Vehicle for Adjusting Course by a Rudder Control Strategy

Shao

et al. 2022

J. Phys.: Conf. Ser.

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Most underwater vehicles (UV) adjust their attitude depending on the direct thrust of their propellers at different parts or change their course through the rudder during moving at high speed. However, it is hard for the rudder to function at a low speed. This paper introduces the design and control of a UV that can work at various speeds, including the structure design and control method. This UV can adjust the attitude with three rudders. The top rudder controls the left-right heading in high-speed motion. The left and right rudders have two degrees of freedom (DOF), respectively, and the twisting degree of freedom, the same as the conventional rudder, is used to control the ascent and descent during high-speed motion. The unique feature is that the flapping degree of freedom allows the UV to adjust its heading at low speed or hovering, which is challenging with the conventional rudder control method. In this paper, we design an experiment to verify the function of the flapping steering, and the result shows the scheme’s feasibility.

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Control design for a multi-regime 6-DOF underwater vehicle; development of MARIN’s modular AUV

Cited by 5 publications

References 7 publications

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Cross-Coupled Dynamics and MPA-Optimized Robust MIMO Control for a Compact Unmanned Underwater Vehicle

Design of an Underwater Vehicle for Adjusting Course by a Rudder Control Strategy

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