Design optimization of an AUV for performing depth control maneuver

Patil, Prasad Vinayak; Khan, Md. Kareem; Korulla, Manu; Nagarajan, Vishwanath; Sha, Om Prakash

doi:10.1016/j.oceaneng.2022.112929

Cited by 13 publications

(4 citation statements)

References 11 publications

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“…We simplified the equations of motion and identified the system model parameters using the roll, pitch, and yaw moment equations. According to [35,36], the sum external moments of the AUV in (3) 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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“…AUV (Autonomous et al) operates underwater and is affected by unknown factors such as depth, pressure, and ocean currents [8,9], which are not calculated accurately; even the kinetic properties of AUV are constant over time, such as material loss, ship weight, change in ship center of gravity [10,11]. Improving the quality of trajectory tracking control of AUVs requires the use of modern nonlinear control theory [12,13].…”

Section: Introductionmentioning

confidence: 99%

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Vu,

Bui,

Dang

et al. 2024

IJTDI

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Underwater vehicles are now mainly researched using the 6-DOF equations of motion. The research on 4-DOF Autonomous Underwater Vehicles (AUV) for small Underwater Vehicles regularly focuses on fully actuated control algorithms. Research on underactuated systems has been conducted frequently for surface ships, while 4-DOF underactuated AUV using a nonlinear control system has received little attention. Little research focuses on devices with quadrotor UAV configuration, also known as QUV, but evaluations have yet to be conducted to advise on which controller to use for different cases. Therefore, in this article, the authors focus on building a control algorithm for an AUV object that lacks a typical recursive executive structure, which is the Backstepping controller when dividing the 4-order strict backpropagation nonlinear system into subsystems to design feedback controllers and Lyapunov control functions for each subsystem. Using this same approach, the authors built a controller that combines Backstepping controller and Hierarchical Sliding Mode Controller (HSMC). This is the guiding premise for research on improving the quality of 4-DOF AUV control before comparing and evaluating the two controllers for specific cases. Newly proposed algorithms and stability analyses are based on Lyapunov's theory, and an evaluation survey is carried out through simulation by Matlab software.

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“…Underwater robots play an important role in the exploration of the unknown underwater world [1], which are remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), and underwater gliders (UGs) represent underwater robots. ROVs are operated by a human operator using a remote control, and they are tethered to a surface vessel, which supplies power and communications.…”

Section: Introductionmentioning

confidence: 99%

Simulation Study on a New Hybrid Autonomous Underwater Vehicle with Elevators

Jiafeng Huang,

Hyeung-Sik Choi,

Dong-Wook Jung

et al. 2023

Proc. eng. technol. innov.

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This study aims to design a new hybrid twin autonomous underwater vehicle (HTAUV) consisting of dual cylinder hulls and analyze its pitching motion. The kinematic model for the HTAUV is established, followed by the execution of hydrodynamic simulation CFD of the HTAUV using Ansys Fluent. These simulations are conducted to obtain the hydrodynamic force equation of the HTAUV, which relates to the deflection angle of the elevator. Through the motion simulation of the HTAUV, under the same net buoyancy condition, notable differences emerge when the elevator is deflected. Specifically, parameters such as gliding speed, gliding angle, and pitch angle of the HTAUV are larger when the elevator is deflected, as compared to cases where no deflection is applied.

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Design optimization of an AUV for performing depth control maneuver

Cited by 13 publications

References 11 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

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Simulation Study on a New Hybrid Autonomous Underwater Vehicle with Elevators

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