Path tracking control for underactuated AUVs based on resolved motion acceleration control

Kim, Youngshik; Lee, Jihong; Park, Sung-Kook; Jeon, Bong-Hwan; Lee, Pan-Mook

doi:10.1109/icara.2000.4804000

Cited by 9 publications

(5 citation statements)

References 4 publications

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“…(Mulyana et al, 2016) Hal terpenting pada robot bawah air atau ROV adalah penerapan sistem kendali pada robot tersebut. Menurut penelitian sebelumnya bahwa mekanika ROV memiliki persamaan kinematika dan persamaan dinamis yang multivariable dan tidak linier (Young-Shik et al, 2009), adanya faktor gangguan dari gaya hidrostatis dan hidrodinamis pada ROV menyebabkan sulit diperoleh model persamaan (Lin et al, 2015), sehingga perlu ditentukan suatu metode kontrol yang cocok. (Bagheri & Moghaddam, 2009) Pada penelitian sebuah robot bawah air di desain menyerupai mini ROV dengan pengendali fuzzy logic .…”

Section: Pendahuluanunclassified

Pengendali Fuzzy Logic Untuk Manuver Robot Bawah Air

Sekarsari,

Nuryadi,

Rizal

2023

EPIC

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Underwater robots are underwater vehicles that use a remote control to control this equipment remotely. This tool is equipped with an infrared sensor to maneuver to avoid certain objects. The implementation of fuzzy logic in this study aims to control underwater robots so that they can maneuver according to the distance measured by infrared. Sugeno's Fuzzy Logic type of underwater robot motion regulates the robot's right, left, and straight maneuvers. The test results obtained the underwater robot distance for maneuvering between 10 cm to 30 cm with different motor Vs, the robot will turn right when the right motor gets 0.15 Vs, and the left motor gets 0.42 Vs with PWM 125 or 50%. The robot will turn left if the left motor gets a V of 0.15 Vs and the right motor gets an assumption of 0.42 Vs with a PWM V of 125 or 50%.

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Section: Pendahuluanunclassified

Pengendali Fuzzy Logic Untuk Manuver Robot Bawah Air

Sekarsari,

Nuryadi,

Rizal

2023

EPIC

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“…Exploring and developing deep-sea areas need different kinds of sensors and devices. Remotely operated vehicles (ROVs) and AUVs are directly fulfilling these requirements (Kim et al, 2009). AUVs are useful for tracing mooring cables (Guo, 2008).…”

Section: Introductionmentioning

confidence: 99%

Potential function-based path-following control of an autonomous underwater vehicle in an obstacle-rich environment

Sahu

Subudhi

2016

Transactions of the Institute of Measurement and Control

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This paper presents the development of simple but powerful path-following and obstacle-avoidance control laws for an underactuated autonomous underwater vehicle (AUV). Potential function-based proportional derivative (PFPD) as well as a potential function-based augmented proportional derivative (PFAPD) control laws are developed to govern the motion of the AUV in an obstacle-rich environment. For obstacle avoidance, a mathematical potential function is used, which formulates the repulsive force between the AUV and the solid obstacles intersecting the desired path. Numerical simulations are carried out to study the efficacy of the proposed controllers and the results are observed. To reduce the values of the overshoots and steady-state errors identified due to the application of PFPD controller a PFAPD controller is designed that drives the AUV along the desired trajectory. From the simulation results, it is observed that the proposed controllers are able to drive the AUV to track the desired path, avoiding the obstacles in an obstacle-rich environment. The results are compared and it is observed that the PFAPD outperforms the PFPD to drive the AUV along the desired trajectory. It is also proved that it is not necessary to employ highly complicated controllers for solving obstacle-avoidance and path-following problems of underactuated AUVs. These problems can be solved with the application of PFAPD controllers.

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“…In addition to the above mentioned methods, lots of methods have been proposed for the tracking controller of a surface vessel [9][10][11][12][13][14][15][16][17][18], and H. Ashrafiuon have focused on the Sliding Mode Control (SMC) for designing the tracking controller of surface vessels [19].…”

Section: F a Papoulias Employed The Linearized Dynamics Tomentioning

confidence: 99%

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Lee¹

2017

Journal of the Korea Institute of Military Science and Technolo

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that a surface vessel is a useful and suitable device for environmental surveying, seaside monitoring, military landings, and so on [1][2][3][4][5]. Despite its numerous useful applications, there are several challenging problems in the designing of tracking controller; a highly non-linear system models, stabilization, and under-actuated property, that is a system has smaller number of actuators than ABSTRACTIn this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.

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Path tracking control for underactuated AUVs based on resolved motion acceleration control

Cited by 9 publications

References 4 publications

Pengendali Fuzzy Logic Untuk Manuver Robot Bawah Air

Pengendali Fuzzy Logic Untuk Manuver Robot Bawah Air

Potential function-based path-following control of an autonomous underwater vehicle in an obstacle-rich environment

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

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