Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

Abstract

This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation.

Preliminary Study for AUV: Longitudinal Stabilization Method Based on Takagi-Sugeno Fuzzy Inference System

“…The same can be said for the power installed on board: we need two counter-rotating propellers to overcome local speed peaks due to the turbulent state of the sea near straits or areas full of rocks. The project solutions are detailed below, explaining the choice of each part of the architecture [ 24 , 25 , 26 , 27 , 28 ].…”

High Accuracy Buoyancy for Underwater Gliders: The Uncertainty in the Depth Control

“…The simulation shows the critical parameters for the hydrodynamic behaviour of the model: the results are given in Table 2 below [73,74,75,76,77,78].…”

Special Feature on Advanced Mobile Robotics

“…They used radial basis function neural networks for the controller. An attitude-tracking control was applied to an AUV (autonomous underwater vehicle) by Wang et al [26]. It was involved with a disturbance-rejection control for hover and transition mode of the vehicle.…”