Evaluation of two depth-holding algorithms for a buoyancy-controlled coastal float

Harrison, Trevor; Ziemann, Alex; Noe, Jessica; Shappell, Brittani; Morgansen, Kristi A.

doi:10.1109/oceans47191.2022.9977033

Cited by 1 publication

(2 citation statements)

References 13 publications

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“…Overall, controller 7b, an I-PD controller with a deadband in the target volume, significantly outperforms the best PM controller regarding energy consumption, response time, and robustness to disturbances. The maximum steady-state error is around 0.5 m, which, although being significantly worse than the one obtained by the 11b PM controller (steady-state error below 0.02 m), is an acceptable value for hovering control, even for shallow waters, where depth control should be tighter [17].…”

Section: Structurementioning

confidence: 65%

“…However, once again, there is no remark regarding the energy spent by each controller or by the proposed combinational one. The only study the authors could find presenting a quantitative comparison between energy consumption of two VBM controllers was [17]. In this study, a linear quadratic regulator (LQR) is compared against a two-stage cascaded proportional-derivative controller (2S-PD) using depth and vertical velocity in the feedback loops.…”

Section: Introductionmentioning

confidence: 99%

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Depth Control of an Underwater Sensor Platform: Comparison between Variable Buoyancy and Propeller Actuated Devices

Carneiro,

Pinto,

de Almeida

et al. 2024

Sensors

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Underwater long-endurance platforms are crucial for continuous oceanic observation, allowing for sustained data collection from a multitude of sensors deployed across diverse underwater environments. They extend mission durations, reduce maintenance needs, and significantly improve the efficiency and cost-effectiveness of oceanographic research endeavors. This paper investigates the closed-loop depth control of actuation systems employed in underwater vehicles, focusing on the energy consumption of two different mechanisms: variable buoyancy and propeller actuated devices. Using a prototype previously developed by the authors, this paper presents a detailed model of the vehicle using both actuation solutions. The proposed model, although being a linear-based one, accounts for several nonlinearities that are present such as saturations, sensor quantization, and the actuator brake model. Also, it allows a simple estimation of the energy consumption of both actuation solutions. Based on the developed models, this study then explores the intricate interplay between energy consumption and control accuracy. To this end, several PID-based controllers are developed and tested in simulation. These controllers are used to evaluate the dynamic response and power requirements of variable buoyancy systems and propeller actuated devices under various operational conditions. Our findings contribute to the optimization of closed-loop depth control strategies, offering insights into the trade-offs between energy efficiency and system effectiveness in diverse underwater applications.

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Section: Structurementioning

confidence: 65%

Section: Introductionmentioning

confidence: 99%