2015
DOI: 10.1002/rob.21625
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Minimum Speed Seeking Control for Nonhovering Autonomous Underwater Vehicles

Abstract: Most autonomous underwater vehicles (AUVs) are propelled by a single thruster, use elevators and rudders as control surfaces, and are torpedo-shaped. Furthermore, they are positively buoyant to facilitate recovery during an emergency. For this class of nonhovering AUVs, there is a minimum speed at which the AUV must travel for stable depth control. Otherwise, the extra buoyancy will bring the AUV up to the surface when the fin loses its effectiveness at low speeds. Hence, we develop a novel algorithm such that… Show more

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Cited by 3 publications
(3 citation statements)
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“…starts from mid-speed onwards. However, a greater pitch down angle, up to -20deg, is required as a trade-off [29], and, below a critical speed, the AUV will be unable to maintain control authority using the stern planes alone [12]. The total power requirement may be analysed as a cost of transport (COT), which is a normalised measure of the energy required to transport the mass of the vehicle over a unit distance at a speed u.…”
Section: Energy Consumptionmentioning
confidence: 99%
See 1 more Smart Citation
“…starts from mid-speed onwards. However, a greater pitch down angle, up to -20deg, is required as a trade-off [29], and, below a critical speed, the AUV will be unable to maintain control authority using the stern planes alone [12]. The total power requirement may be analysed as a cost of transport (COT), which is a normalised measure of the energy required to transport the mass of the vehicle over a unit distance at a speed u.…”
Section: Energy Consumptionmentioning
confidence: 99%
“…For flight-style operation, stern planes are used to adjust the pitch angle of the vehicle which in turn results in depth changes. A controller for flight-style operation may be designed based on a cascaded depth and pitch control structure [8,9,10,11,12]. In contrast, the control problem for hover-style operation may be considered as two parts [13,14,15].…”
Section: Introductionmentioning
confidence: 99%
“…A reduction in operating speed comes at the cost of reducing the maximum achievable pitch angle and increasing the required pitch to keep a constant depth (Eng & Chitre, ). The more manoeuvrable hover‐capable AUVs are typically fitted with thrusters, providing actuation with more degrees of freedom and were used in initial proposals for AUV‐based photographic surveys (Haywood, ; Yoerger, Bradley, & Walden, ).…”
Section: Introductionmentioning
confidence: 99%