Robust Energy-optimal Path Following Control for Autonomous Underwater Vehicles in Ocean Currents

Yang, Niankai; Chang, Dongsik; Johnson-Roberson, Matthew; Sun, Jing

doi:10.23919/acc45564.2020.9147322

Cited by 9 publications

(7 citation statements)

References 16 publications

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“…Considering the great need in performing 3D pathfollowing maneuvers for AUVs to achieve various underwater missions (e.g., mapping and inspection), in this paper, we extend our previous work in [12] for energy-optimal 3D path-following control under ocean currents. A twostage controller structure is utilized.…”

Section: Introductionmentioning

confidence: 84%

“…Following the energy-optimal path-following control proposed in [12], a two-stage controller structure shown in Fig. 3 is adopted.…”

Section: A Controller Architecturementioning

confidence: 99%

“…• Transient vs. steady-state nature: The energy for yaw control is spent only in transient states, while the energy for surge, heave, and pitch controls is persistently consumed in steady states (e.g., surge drag force, positive buoyancy, and pitch restoring moments). Considering that, during most of the time in deep-sea survey or mapping missions, minimal variations in vehicle states will be required to follow straight-line paths under slowvarying currents [12], [16], the energy-saving potentials of optimizing the yaw motion can be limited. • Computation load: To optimize the yaw motion, vehicle dynamics has to be considered [11], leading to increased computation and reduced real-time feasibility.…”

Section: B Setpoint Computationmentioning

confidence: 99%

“…For energy consumption computation, the travel time (or the total travel speed) is also required. Following the analysis in [12], the vehicle speed towards the LOS position is used in this study to compute the travel time to the desired waypoint. Denote U c and ψ c as the magnitude and direction of the ocean current in the horizontal plane.…”

Section: ) Yaw Angle Setpoint Computationmentioning

confidence: 99%

“…For instance, a weighted sum of reference-following error and control inputs was used in [9], [10] for thrust optimization, and an economic MPC (EMPC) was proposed in [11]. An energy-optimal path-following control strategy was developed in [12], which computes yaw angle with LOS guidance law for reduced path-following error and optimizes the vehicle surge speed for energy minimization. However, the aforementioned approaches only deal with 2D motion control (i.e., in the horizontal/vertical plane).…”

Section: Introductionmentioning

confidence: 99%

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Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

Yang¹,

Shen²,

Johnson-Roberson³

et al. 2022

Preprint

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This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint computation and the setpoint tracking. In the first stage, the surge velocity, heave velocity, and pitch angle setpoints are optimized by minimizing the required vehicle propulsion energy under currents, and the line-of-sight (LOS) guidance law is used to generate the yaw angle setpoint that ensures path following. In the second stage, two model predictive controllers are designed to control the vehicle motion in the horizontal and vertical planes by tracking the optimal setpoints. The proposed controller is compared with a conventional LOSbased control that maintains zero heave velocity relative to the current (i.e., relative heave velocity) and derives pitch angle setpoint using LOS guidance to reach the desired depth. Through simulations, we show that the proposed approach can achieve more than 13% energy saving on a lawnmower-type and an inspection mission under different ocean current conditions. The simulation results demonstrate that allowing motions with non-zero relative heave velocity improves energy efficiency in 3D path-following applications.

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Section: Introductionmentioning

confidence: 84%

“…Following the energy-optimal path-following control proposed in [12], a two-stage controller structure shown in Fig. 3 is adopted.…”

Section: A Controller Architecturementioning

confidence: 99%

Section: B Setpoint Computationmentioning

confidence: 99%

Section: ) Yaw Angle Setpoint Computationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

Yang¹,

Shen²,

Johnson-Roberson³

et al. 2022

Preprint

Self Cite

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Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Jia,

Liao,

et al. 2024

Journal of Field Robotics

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It is critical to master a marine robot's energy system characteristics adequately to ensure that the robot can perform long‐endurance tasks in complex and ever‐changing marine environments. This paper presents, for the first time, an energy system modeling and analysis method for a marine robot driven by wind, solar, and wave composite energy, using Yulang II as an example. First, an onshore experiment method was designed, and then the conversion experiment of wind, sunlight, and electrical energy was carried out based on that experiment method. At the same time, based on computational fluid dynamics technology, a resistance pole curve considering wave energy capture is constructed. In addition, the attitude, relative motion, and battery constraints of the robot in the ocean are analyzed to construct the energy system model of Yulang II. Finally, the method and model proposed in this paper were compared and verified by simulation and field tests. The results indicated that the corrected forecast deviation was 5.71% in the typical marine environment of the experiment, which supported the study of ocean energy‐driven unmanned marine vehicles strongly.

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Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

Yang

Shen

Johnson-Roberson

et al. 2022

2022 IEEE Conference on Control Technology and Applications (CCTA)

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Robust Energy-optimal Path Following Control for Autonomous Underwater Vehicles in Ocean Currents

Cited by 9 publications

References 16 publications

Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

Modeling analysis and experiment for energy system of ocean energy driven unmanned marine vehicle: The Yulang II case study

Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents

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