Development of a PID Control Strategy for a Compact Autonomous Underwater Vehicle

Sahoo, Avilash; Dwivedy, Santosha K.; Robi, P. S.

doi:10.1115/omae2019-95345

Cited by 5 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A robust control approach is developed to generate the control efforts t u , t w , and t r . These control efforts enable the AUV to trace the trajectories more efficiently 27 and reliably. Furthermore, the controller should be robust enough to tackle the parametric variations and external ocean currents with unknown upper bounds.…”

Section: Problem Formulationmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles

Bharti,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

This article proposes an adaptive nonsingular fast terminal sliding mode control scheme with piecewise fast multi-power reaching law for tracking control of underactuated autonomous underwater vehicles under model uncertainties, ocean disturbances, and measurement noise. This control approach enhances the robustness and guarantees faster convergence of state error to zero in finite time while reducing the chattering effect. Utilizing the benefit of adaption law prevents overestimating control parameters, and it eliminates the need for the upper bound value of disturbances. The overall stability of the system is analyzed using the Lyapunov criterion. The results of the proposed approach are compared with adaptive nonsingular terminal sliding mode control and adaptive sliding mode control. The performance of the proposed control approach is evaluated by using the performance indices root mean square error and chattering indicator. The simulation results confirm the efficiency of the proposed approach.

show abstract

Section: Problem Formulationmentioning

confidence: 99%

“…Before introducing the adaptation law from equation (21) in equation (27), two different cases can be considered. Case 1: If K u1 , K u2 , K u3 .…”

Section: Switching Gain Adaptation Lawmentioning

confidence: 99%

Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles

Bharti,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

show abstract

“…With the rapid development of technology, underwater robots play significant roles in ocean resource exploitation. Especially in some human inaccessible or hazardous areas, autonomous underwater vehicles (AUVs) are capable of sensing surroundings and navigating themselves to perform specific tasks, such as underwater structure inspection, marine resource exploration, marine environment monitoring [1][2][3][4][5]. However, these applications require AUVs with high maneuverability and reliable power supply.…”

Section: Introductionmentioning

confidence: 99%

Untitled

2019

Int J Robot Eng

View full text Add to dashboard Cite

The design of propulsion system is a very critical task because it determines the performance of underwater robots, such as maneuverability and endurance and so on. Generally, it is a challenge to develop a propulsion system which can make tradeoff among multiple degree-of-freedom (DOF) motions, simple and compact structure and low power consumption. Thus, we are motivated to propose a collaborative propulsion system for the underwater robot and its unique reconfigurable structure makes vectorial propulsion possible. The novel collaborative propulsion system consists of a Coanda effect based primary system and a magnetic coupling based auxiliary system. Based on Coanda effect, the primary system can provide sufficient thrust in four directions by only one water-jet. Meanwhile, as the assistance of the primary thruster, the auxiliary system can realize omnidirectional thrust to balance the robot whole body and meet the high requirement of maneuverability. In this paper, we present the mechanical structure of the propulsion system in detail and explain specific design of the fluidic valve by theoretical analysis. To evaluate the performance, simulations about jet attachment effect and magnetic coupling characteristic have been conducted at last so as to lay a solid foundation for the feasibility of such novel propulsion system.

show abstract