Survey on traditional and AI based estimation techniques for hydrodynamic coefficients of autonomous underwater vehicle

Ahmed, Faheem; Xia, Xiang; Jiang, Chaicheng; Gong, Xuerui; Yang, Shunkun

doi:10.1016/j.oceaneng.2022.113300

Cited by 59 publications

(8 citation statements)

References 124 publications

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“…u u wq qq w w q q uq uw w w q q uq , and M uw are the hydrodynamic coefficient. Although the physical parameters such as mass, center of mass, and moment of inertia can be calculated by computer-aided design software, a set of precise hydrodynamic coefficients is very difficult to be achieved due to the complicated coupling hydrodynamics effects (Ahmed et al, 2023). Therefore, control methods that do not rely heavily on the controlled object model are easier to implement in engineering practice.…”

Section: Kinematics and Dynamicsmentioning

confidence: 99%

ADRC‐SMC‐based disturbance rejection depth‐tracking control of underactuated AUV

Liu,

Xiang,

Duan

et al. 2024

Journal of Field Robotics

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The underactuated autonomous underwater vehicle (AUV) depth‐tracking approach is presented in this research along with comparative field experiments. First, a model‐free ADRC‐SMC pitch autopilot method is proposed to eliminate dynamics‐related disturbances. The active disturbance rejection control (ADRC) framework is adopted to compensate the complicated and unknown pitch dynamics into an approximate integral series type. Sliding mode control (SMC) feedback law is designed to further compensate for dynamic feedback linearization inaccuracy of the ADRC framework. Second, the disturbance rejection double‐loop depth‐tracking approach is suggested in conjunction with adaptive line‐of‐sight (ALOS), which converts depth tracking into pitch tracking. The ALOS not only estimates the actual angle of attack but also compensates the pitch‐tracking inaccuracy from the ADRC‐SMC in the inner loop. Then, the uniformly semiglobally exponential stability of the closed‐loop depth controller is proved after a detailed analysis of the stability from the inner loop to the outer loop. Finally, comparative field experiments are conducted to verify the proposed method. The effectiveness and strong disturbance rejection capabilities of the ADRC‐SMC pitch autopilot method and the suggested depth‐tracking approach are demonstrated by experimental results.

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Section: Kinematics and Dynamicsmentioning

confidence: 99%

ADRC‐SMC‐based disturbance rejection depth‐tracking control of underactuated AUV

Liu,

Xiang,

Duan

et al. 2024

Journal of Field Robotics

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“…The Hybrid method [ 60 , 61 ] combines the traditional physical methods and the data-driven methods, and not only has theoretical interpretability and application generalization but also has strong environmental adaptability.…”

Section: Key Technologies Of the Uvmsmentioning

confidence: 99%

Underwater Robots and Key Technologies for Operation Control

Sun,

Wang,

Hui

et al. 2024

Cyborg Bionic Syst

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Over time, the utilization of the Underwater Vehicle-Manipulator System (UVMS) has steadily increased in exploring and harnessing marine resources. However, the underwater environment poses big challenges for controlling, navigating, and communicating with UVMS. These challenges have not only spurred the continuous advancement of related technologies, but also made the development of the UVMS even more captivating. This article firstly provides a review of development status of the UVMS and discusses the current limitations and future directions, and then reviews in detail the dynamic and hydrodynamic modeling methods, and analyzes the principles, advantages, and disadvantages of various approaches. Then, we try to review 2 key technologies of operation control methods, including underwater positioning and navigation technologies and vehicle-manipulator coordinated control approaches. Finally, a reasonable prospect for the future development of UVMS is given.

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“…Digital Twin Technology is still in the infancy stage when considering the maritime domain. Less research work has been conducted compared to other industrial sectors, but the researchers have identified the potential of this innovative concept and DTs are being developed for various maritime applications such as surface ships, underwater vehicles [43,44], offshore platforms [45,46], coastal electrical power stations [47], etc. Apart from the described examples, the limits to the application of DT technology are boundless, with numerous possible applications in the entire maritime domain.…”

Section: Present Digital Twin Manipulations In Marine Industrymentioning

confidence: 99%

Digital Twin in the Maritime Domain: A Review and Emerging Trends

Madusanka,

Fan,

Yang

et al. 2023

JMSE

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This paper highlights the development of Digital Twin (DT) technology and its admittance to a variety of applications within the maritime domain in general and surface ships in particular. The conceptual theory behind the evolution of DT is highlighted along with the development of the technology and current progress in practical applications with an exploration of the key milestones in the extension from the electrification of the shipping sector towards the realization of a definitive DT-based system. Existing DT-based applications within the maritime sector are surveyed along with the comprehension of ongoing research work. The development strategy for a formidable DT architecture is discussed, culminating in a proposal of a four-layered DT framework. Considering the importance of DT, an extensive and methodical literature survey has also been carried out, along with a comprehensive scientometric analysis to unveil the methodical footprint of DT in the marine sector, thus leading the way for future work on the design, development and operation of surface vessels using DT applications.

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Survey on traditional and AI based estimation techniques for hydrodynamic coefficients of autonomous underwater vehicle

Cited by 59 publications

References 124 publications

ADRC‐SMC‐based disturbance rejection depth‐tracking control of underactuated AUV

ADRC‐SMC‐based disturbance rejection depth‐tracking control of underactuated AUV

Underwater Robots and Key Technologies for Operation Control

Digital Twin in the Maritime Domain: A Review and Emerging Trends

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