The NDRE-AUV flight control system

Jalving, B.

doi:10.1109/48.338385

Cited by 158 publications

(61 citation statements)

References 2 publications

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“…The decoupled control design procedure can be found in [5]. Healey and Marco [8], Healey and Lienard [7], Jalving [6] and others suggest that the 6 DOF linear equations of motion can be divided into three non-interacting (or lightly interacting) subsystems, grouping certain key motion equations together for the separate function of speed, steering and diving control. Each system consists of the state variables:…”

Section: Sliding Mode Autopilot Designmentioning

confidence: 99%

Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles

Shi

2006

TENCON 2006 - 2006 IEEE Region 10 Conference

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Abstract-Autonomous Underwater Vehicles (AUVs) have nonlinear and time-varying behaviour and unmodelled dynamics. This paper describes the design, development and evaluation of nonlinear sliding mode autopilot system for an AUV to control the speed, steering and depth of the nonlinear AUV. It has also been observed by some researchers that the sliding mode controller is unable to eliminate the steady-state error. A method of eliminating the steady-state error associated with the sliding mode controller has been proposed in this paper. In addition, performances of the sliding mode autopilot were evaluated by simulation on the nonlinear model of the AUV over a variety of operating conditions. The robustness of the control system was evaluated in the presence of disturbances and parameter uncertainties.

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Section: Sliding Mode Autopilot Designmentioning

confidence: 99%

Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles

Shi

2006

TENCON 2006 - 2006 IEEE Region 10 Conference

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“…For flight-style operation, stern planes are used to adjust the pitch angle of the vehicle which in turn results in depth changes. A controller for flight-style operation may be designed based on a cascaded depth and pitch control structure [8,9,10,11,12]. In contrast, the control problem for hover-style operation may be considered as two parts [13,14,15].…”

Section: Introductionmentioning

confidence: 99%

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

et al. 2017

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A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation. A system stability and convergence is proven using a Lyapunov-based approach. The performance of the controller is demonstrated by simulation but crucially is proven to provide satisfactory performance experimentally. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified and their impact on cost of transport is highlighted for future optimisation of energy consumption.

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“…In multiple articles (e.g. Zeng & Allen, 2004;Jalving, 1994) three different controllers are designed. One is used to control the speed, the other for the heading and the last one for the depth.…”

Section: Controls and Navigationmentioning

confidence: 99%