Optimal Control of an Underwater Glider Vehicle

Tchilian, Renan da Silva; Rafikova, Elvira; Gafurov, Salimzhan; Rafikov, Marat

doi:10.1016/j.proeng.2017.02.322

Cited by 28 publications

(12 citation statements)

References 7 publications

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“…Here, x and z represent the horizontal and vertical displacements of the UG in the Earth reference coordinate frame, respectively; α is the AOA; θ is the angle of pitch; ξ is the gliding angle; v 1 and v 3 present the velocity components of the glider along the xand z-axes in the body-fixed frame, respectively; ω 2 represents the pitch angular velocity of the UG rotating about the y-axis of the body-fixed frame; L is the hydrodynamic lift; D is the hydrodynamic drag; M DL represents the pitching moment yielded by the hydrodynamic; m 1 and m 3 represent the added mass along the xand z-axes, respectively; J 2 represents the moment of inertia rotating about the y-axis; and P m1 , P m3 , and P P1 , P P3 represent the momenta of the movable masses and piston along the xand z-axes, respectively. Furthermore L, D, and M DL can be expressed as follows [16]:…”

Section: P +ωP (35)mentioning

confidence: 99%

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

et al. 2021

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Net buoyancy, as the main power source for the motion of an underwater glider, is affected by the pump or bladder that the glider adopts to change its buoyancy force in water. In this study, a new underwater glider that can dive to a depth of 400 m at a cruising speed of 2 knots, which is faster than conventional underwater gliders and is less affected by sea currents, is investigated. The UG resisting 400 m pressure on the buoyancy engine and achieving 2 knots’ speed was designed and constructed. For this UG, its steady-state attitude was studied according to the variance of the buoyancy center and the center of gravity with the buoyancy engine influenced by the displacement of the movable mass block. In motion simulation of the UG, the attitude of the UG under different displacement conditions was simulated in Simulink according to the displacements of the piston and the movable mass block. To validate the simulation performance, a UG was constructed and experiments were conducted. The simulation and experimental results were compared to show the reliability of the simulation results under limited conditions.

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Section: P +ωP (35)mentioning

confidence: 99%

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

et al. 2021

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“…Several studies show several methods used to control pitch and roll. The methods used include using classical control systems such as proportional-integral-derivative controllers(PID) [2][3], as well as modern control systems such as sliding modes [4], linear quadratic regulators [5], linear quadratic gaussian [6], and fuzzy logic controllers [7]- [9].…”

Section: Introductionmentioning

confidence: 99%

Implementation of Roll Control on Mini Remotely Operated Vehicle

Sugandi

Siregar

Meisaroh

2021

IJAIT

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This paper describes the design and manufacture of an underwater explorer robot. The proposed Mini Remotely Operated Vehicle (ROV) is designed to be controlled remotely using a wireless communication module outside the water. ROV stability is needed to support the operation of ROV when do maneuvering in the water. The design of the ROV is aimed to maintain stability using a PID control system. Moreover, the gain PID values, kP gain, kI gain, and kD gain, must be set to perform roll stability. After performing a fine-tuning of the PID gain values, the experiment result shows that the system can maintain an average error of -1.70 degrees.

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“…A robust integral sliding mode with a super-twisting algorithm was proposed in [5] for the trajectory tracking problem of autonomous UG with environmental disturbances. In [6], the optimal control of an UG vehicle was proposed using Linear Quadratic Regulator strategy. A new optimal three-dimensional path planning method was developed in [7] for the minimum energy consumption for UGs.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane

Nguyen

Choi

Jin

et al. 2020

Adv. technol. innov.

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Hybrid underwater glider (HUG) is an advanced autonomous underwater vehicle with propellers capable of sustainable operations for many months. Under the underwater disturbances and parameter uncertainties, it is difficult that the HUG coordinates with the desired depth in a robust manner. In this study, a robust adaptive control algorithm for the HUG is proposed. In the descend and ascend periods, the pitch control is designed using backstepping technique and direct adaptive control. When the vehicle approaches the target depth, the surge speed control using adaptive control combined with the pitch control is used to keep the vehicle at the desired depth with a constant cruising speed in the presence of the disturbances. The stability of the proposed controller is verified by using the Lyapunov theorem. Finally, the computer simulation using the numerical method is conducted to show the effectiveness of the proposed controller for a hybrid underwater glider system.

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Optimal Control of an Underwater Glider Vehicle

Cited by 28 publications

References 7 publications

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Implementation of Roll Control on Mini Remotely Operated Vehicle

Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane

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