Guidance and control of the SIRENE underwater vehicle: from system design to tests at sea

Oliverira, P.; Silvestre, Carlos; Aguiar, Paulo Marcos; Pascoal, A.

doi:10.1109/oceans.1998.724395

Cited by 6 publications

(4 citation statements)

References 5 publications

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“…Figure 6 shows the results obtained for linear trajectory (62) tracking and constant disturbances (64). From Figure 6a-e it can be observed that the position tracking task is realized correctly and the velocities u, r tend towards the desired ones.…”

Section: Kambara Test Using Proposed Algorithmmentioning

confidence: 89%

“…The vehicle data were taken from [59,62]. Conditions of the investigation were as follows: the forces and torques values were limited here, based on the references, i.e., |τ u | ≤ 500 N, |τ r | ≤ 500 Nm, and the velocities u max = 2 m/s, v max = 0.8 m/s.…”

Section: Sirene Test Using Proposed Algorithmmentioning

confidence: 99%

“…The results for the desired linear trajectory (62) and constant disturbances (64) are given in Figure 2. From Figure 2a-c it can be seen that the trajectory is tracked correctly.…”

Section: Sirene Test Using Proposed Algorithmmentioning

confidence: 99%

See 2 more Smart Citations

A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

Herman

2022

Applied Sciences

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This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown that such systems can be diagonalized using inertial quasi-velocities (IQVs). The strategy consists of the velocity controller and two adaptive integral sliding mode control algorithms. The proposed approach, introducing velocity transformation and using backstepping methods and integral sliding mode control, allows trajectory tracking for vehicles in described models with symmetric inertia matrix. Proof of the stability of the closed system was carried out using IQV. The proposed scheme has been verified on two 3 DOF models of underwater vehicles with thruster limitations. A brief discussion of the results is also given.

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Section: Kambara Test Using Proposed Algorithmmentioning

confidence: 89%

Section: Sirene Test Using Proposed Algorithmmentioning

confidence: 99%

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A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

Herman

2022

Applied Sciences

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“…The SIRENE vehicle was described in [60,61]. The vehicle was L v = 4.0 m long, W = 1.6 m wide, and H = 1.96 m high.…”

Section: Vehicle Models and Test Conditionsmentioning

confidence: 99%

Trajectory Tracking Nonlinear Controller for Underactuated Underwater Vehicles Based on Velocity Transformation

Herman

2023

JMSE

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This paper proposes an algorithm that performs the task of tracking the desired trajectory for underactuated marine vehicles (primarily underwater) that move horizontally. The control scheme, which takes into account model inaccuracies and external disturbances, was designed using the quantities obtained after the transformation of the dynamic equations of motion resulting from the decomposition of the inertia matrix. This, in turn, led to the equation of dynamics with a diagonal inertia matrix. A specific feature of the offered controller is its dual role. It not only allows tracking the desired trajectory, but at the same time, makes it possible to estimate the impact of dynamic couplings when the vehicle is in motion. Such an approach to the tracking task is important at the initial design stage when the choice of the control algorithm has not yet been decided and experimental tests have not been performed. This is feasible because the new variables after the velocity transformation include not only vehicle parameters, but also actual velocities and forces. Therefore, it is also possible to track the original variables. The theoretical results were followed up with simulation tests conducted on a model with three degrees of freedom for two underwater vehicles.

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A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

et al. 2003

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The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element that generates suitable trajectories to be followed. In this review paper, various guidance laws found in the literature and their relevance to autonomous underwater vehicles (AUVs) are discussed. Since existing guidance laws for underwater vehicles have emulated from tactical airborne missile systems, a number of approaches for the missile guidance systems are considered. Finally, potential guidance strategies for AUVs are proposed.

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Guidance and control of the SIRENE underwater vehicle: from system design to tests at sea

Cited by 6 publications

References 5 publications

A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

Trajectory Tracking Nonlinear Controller for Underactuated Underwater Vehicles Based on Velocity Transformation

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

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