Nonlinear gliding stability and control for vehicles with hydrodynamic forcing

This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech's custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE's design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between different motion patterns. This approach uses multiple feedforwardfeedback controllers. Different aspects of the roll mechanism and the effectiveness of the controller on turning motion are discussed based on experimental results. The results illustrate that the ROUGHIE is capable of achieving tight turns with a radius of 2.4 meters in less than 3 meters of water, or one order of magnitude improvement on existing internally actuated platforms. The developed roll mechanism is not specific to underwater gliders and is applicable to all AUVs, especially at lower speeds and in shallower water when external rudder is less effective in maneuvering the vehicle.

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“…According to [5], the hydrodynamic coefficients depend on the vehicle velocity, angle of attack, and sideslip angle as…”

Section: Kinematicsmentioning

confidence: 99%

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Ziaeefard

Page

Pinar

et al. 2017

J Intell Robot Syst

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“…The proposed design is inspired by the concept of ballast control and center of gravity control (CG) in hydrodynamic or aerodynamic forced vehicles such as gliders [12], and is presented here to specifically examined the theoretical and experimental differences between altitude and pitch variations generated using aerodynamic control surfaces (elevator) versus configuration changes achieved by repositioning the gondola along the longitudinal axis of the helium envelope.…”

Section: Introductionmentioning

confidence: 99%

Unmanned airship design with sliding ballast: Modeling and experimental validation

Lanteigne

Gueaieb

Robillard

et al. 2016

2016 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-Airships present many interesting opportunities for transport, surveillance and inspection but have seen little to no use in commercial or military unmanned applications. Generally underpowered, underactuated, and large in size, airships express difficulties in adverse atmospheric conditions or situations requiring rapid or precise maneuvers. In this paper, a miniature unmanned airship with a moving platform is presented to address the the limited altitude maneuverability of these vehicles. Simulated and experimental open-loop trajectories demonstrate that this architecture allows for large changes in vehicle pitch and, when combined with forward facing thrusters, rapid changes in altitude. Operational advantages such as increased hull rigidity and concentrated hardware inherent to the vehicle design are also discussed.

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“…The dynamic models of gliders steered by a linearly movable internal mass were established in Graver and Leonard (2001) and Bhatta and Leonard (2008). In Bender et al (2008) and Leonard and Graver (2001), the stability of the sawtooth gliding motion was analyzed, and then a model-based feedback control method was developed to stabilize the motion.…”

Section: Introductionmentioning

confidence: 99%

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Zhang

et al. 2013

Ocean Engineering

183

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Nonlinear gliding stability and control for vehicles with hydrodynamic forcing

Cited by 71 publications

References 14 publications

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Unmanned airship design with sliding ballast: Modeling and experimental validation

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

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