System Design and Experiment of the Hybrid Underwater Vehicle

Ai, Xinghao; Kang, Song; Chou, Wu

doi:10.1109/iccr.2018.8534493

Cited by 5 publications

(3 citation statements)

References 8 publications

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“…ere were other investigations of more complex models, which had a torpedo shape; an example of the research was the development of a robot in 2018. It had four fins located on the sides including four propellers [12] and two propellers to immerse. e robot had a length of 140 cm, a diameter of 20 cm, and a weight of 32 kg.…”

Section: By Geometric Shapementioning

confidence: 99%

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications, from bomb searching and recovery to sea exploration. Initially, these robots were used mainly for military and scientific purposes. However, nowadays, they are very much extended into civils, and it is not hard to find them being used for recreation. In this context, the present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensor and instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.

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Section: By Geometric Shapementioning

confidence: 99%

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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show abstract

“…The AUV physical model is illustrated in Figure 1 . The model is first introduced in [ 40 ] but only includes depth dynamics. To describe the dynamics of the AUV system, two frames of reference are introduced: the body-fixed frame

and the Earth-fixed frame

.…”

Section: Model Dynamicsmentioning

confidence: 99%

Antidisturbance Control for AUV Trajectory Tracking Based on Fuzzy Adaptive Extended State Observer

Kang

Rong

Chou

2020

Sensors

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In this paper, an output-feedback fuzzy adaptive dynamic surface controller (FADSC) based on fuzzy adaptive extended state observer (FAESO) is proposed for autonomous underwater vehicle (AUV) systems in the presence of external disturbances, parameter uncertainties, measurement noises and actuator faults. The fuzzy logic system is incorporated into both the observers and controllers to improve the adaptability of the entire system. The dynamics of the AUV system is established first, considering the external disturbances and parameter uncertainties. Based on the dynamic models, the ESO, combined with a fuzzy logic system tuning the observer bandwidth, is developed to not only adaptively estimate both system states and the lumped disturbances for the controller, but also reduce the impact of measurement noises. Then, the DSC, together with fuzzy logic system tuning the time constant of the low-pass filter, is designed using estimations from the FAESO for the AUV system. The asymptotic stability of the entire system is analyzed through Lyapunov’s direct method in the time domain. Comparative simulations are implemented to verify the effectiveness and advantages of the proposed method compared with other observers and controllers considering external disturbances, parameter uncertainties and measurement noises and even the actuator faults that are not considered in the design process. The results show that the proposed method outperforms others in terms of tracking accuracy, robustness and energy consumption.

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“…The same depth control methods can be implemented in any kind of underwater vehicle. In some cases, vehicles in which combined screw propellers and undulating propulsion are used -so-called hybrid vehicles (HUUV) -may be desirable to fulfil specific underwater missions (Conry et al, 2013) (Ai et al, 2018) (Cai et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Depth control for biomimetic and hybrid unmanned underwater vehicles

Morawski

Malec

2021

Tech.Trans.

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Unmanned underwater vehicles which use biomimetic mechanisms are becoming increasingly useful in the realisation of tasks requiring silent and efficient propulsion. Complex fish kinematics are simplified to some extent and implemented in such vehicles. One of the essential fish behaviours is their ability to adjust their buoyancy using a swim bladder. This paper covers the issues concerning the implementation of artificial swim bladders as well as depth regulators in two underwater vehicles: biomimetic and hybrid. The control of vehicle depth through buoyancy change was examined in the computer simulation and in the experiment. Two types of artificial swim bladder were tested – a rigid cylinder with a piston and an elastic container with a water pump.

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System Design and Experiment of the Hybrid Underwater Vehicle

Cited by 5 publications

References 8 publications

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Antidisturbance Control for AUV Trajectory Tracking Based on Fuzzy Adaptive Extended State Observer

Depth control for biomimetic and hybrid unmanned underwater vehicles

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