Roll dynamics and control enhancement of an oceanic AUV by a four-decoupled-fins system

Salehi, Seyed Miad; Ebrahimi, Mohsen

doi:10.1016/j.apor.2021.102753

Cited by 4 publications

(2 citation statements)

References 13 publications

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“…Assume the error (e) is the difference between the actual pitch angle (𝑋1=𝜃) and the desired pitch angle (𝑋1𝑑=𝜃𝑑) as (12).…”

Section: Smc Design For Auvmentioning

confidence: 99%

“…In the proposed system, it is desire to control both the output DC voltage of the rectifier and the reactive power simultaneously by making them track desired respective values. Seyed S., Mohsen E., show two goals, which are firstly removing any chattering by using a sliding mode controller and secondly, the allocation of thrust depending on reducing the biggest component of the manifold of thrust [12].…”

Section: Introductionmentioning

confidence: 99%

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Submarine control system using sliding mode controller with optimization algorithm

Ajaweed

Muhssin²,

Humaidi³

et al. 2023

IJEECS

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<span>The purpose of this paper is to design and implement the pitch and depth control system of an autonomous underwater vehicles (AUV). This control system will determine the best pitch angle as well as the depth automatically when there are changes in speed, weight, etc. In this paper, the kinematic and dynamic equations of motion for the AUV are derived to obtain the pitch angle and depth transfer functions. The control strategies applied here, are firstly, the sliding mode controller (SMC) driven by particle swarm optimization (PSO) algorithm. Secondly, the proportional integral derivative controller (PID) tuned by PSO algorithm as a standard controller. The PSO algorithm is used as an efficient algorithm to search for the optimal controllers’ parameters and hence improving the performance of the system. The findings show that the designed sliding mode control (SMC) could improve the stability and performance and provides more realistic behavior for the AUV compared to other classical controllers and according to pitch and the depth changes.</span>

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“…Assume the error (e) is the difference between the actual pitch angle (𝑋1=𝜃) and the desired pitch angle (𝑋1𝑑=𝜃𝑑) as (12).…”

Section: Smc Design For Auvmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%