Three-dimensional trajectory tracking of a hybrid autonomous underwater vehicle in the presence of underwater current

Makdah, Abed AlRahman Al; Daher, Naseem; Asmar, Daniel; Shammas, Elie

doi:10.1016/j.oceaneng.2019.05.030

Cited by 27 publications

(7 citation statements)

References 18 publications

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“…The kinematic model of AUVs is widely established [6,7,32,33]. Equation ( 6) is the kinematic model of the complete six-degree-of-freedom AUV, which shows the relationship between linear and angular velocities in the internal frame and the body-fixed frame.…”

Section: Kinematics Modelmentioning

confidence: 99%

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Dual-Loop Integral Sliding Mode Control-Based Path Tracking with Reaction Torque for Autonomous Underwater Vehicle

Ju,

Cai,

Liu

et al. 2024

JMSE

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Path tracking control is an important method for a Six-Degree-Of-Freedom Autonomous Underwater Vehicle to perform specific underwater tasks. Therefore, this paper investigates a dual-loop integral sliding mode control (DLISMC)-based tracking controller for an AUV with model uncertainties and external disturbances, and introduces a new reaction torque model for static compensation in order to improve the attitude control capability for AUVs when performing path tracking. In addition, the stability of tracking control law based on DLISMC is demonstrated using the Lyapunov function. Finally, numerical simulations are carried out on MATLAB 2016/Simulink and compared with the Proportion–Integral–Differential (PID) control commonly used in industry as well as the dual-loop Proportion–Integral–Differential (DLPID). Simulation results show that the DLISMC has a smaller tracking error, faster convergence speed, and more robustness against external disturbances and reaction torque.

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Section: Kinematics Modelmentioning

confidence: 99%

“…Regarding the dynamics model of AUVs is common in the control field and can be found in the literature [6,7,32,33]. The dynamic equation of 6-DOF AUV in the body-fixed frame can be expressed as…”

Section: Dynamic Modelmentioning

confidence: 99%

Dual-Loop Integral Sliding Mode Control-Based Path Tracking with Reaction Torque for Autonomous Underwater Vehicle

Ju,

Cai,

Liu

et al. 2024

JMSE

View full text Add to dashboard Cite

show abstract

“…We assume the deployment of a hybrid AUV [17] which has both propeller engine and buoyancy engine. It uses propeller engine to operate at relatively high speeds while it uses buoyancy engine to glide (i.e., float up and dive in) [16].…”

Section: A Motion Modelmentioning

confidence: 99%

“…] is the random vector quantifying the ocean current speed [17]. Specifically, ν o,x [n] and ν o,y [n] are modeled as independent Gaussian random variables with mean value of α and variance of β.…”

Section: A Motion Modelmentioning

confidence: 99%

“…Floating up and diving in operations in non-propelled AUVs is also possible by changing their buoyancy with little power consumption [16]. Hybrid versions [17] use their buoyancy engine for floating up and diving and use their propeller engine for going forward. In the operation of AUVs, the main power consumption source is therefore propeller engine.…”

Section: Introductionmentioning

confidence: 99%

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Energy Aware Trajectory Optimization of Solar Powered AUVs for Optical Underwater Sensor Networks

Mahmoodi

Uysal

2022

IEEE Trans. Commun.

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Visible light communication (VLC) provides an alternative underwater wireless connectivity solution with its low latency and high data rates albeit at relatively shorter distances in the order of tens of meters. In the context of underwater sensor networks (USNs), VLC is particularly suitable to establish connectivity between "data mule" autonomous underwater vehicles (AUVs) and sensor nodes since communications is enabled only when the sensor node and mule AUV are in close proximity. In this paper, we consider a USN scenario where a solar-powered AUV gathers data from the sensor nodes using VLC signaling. We formulate a three-dimensional trajectory optimization for solar-powered AUVs with the goal of maximizing the harvested energy under constraints imposed by the data transmission. The optimization constraints include the minimum required data transfer rate, therefore a corresponding transmission distance, between the sensors and the AUV. We formulate the problem as a bilevel optimization problem. The lower-level objective function is in the form of traveling salesman problem which determines the optimum sequence order of the sensor nodes to be visited while the upper-level objective function is the optimization of the trajectory between each pair of adjacent nodes for the given order of node visits. Our numerical results demonstrate that the proposed trajectory significantly prolongs the mission time and autonomous operation of the AUV without the need to return to home base. Furthermore, since the proposed trajectory optimization is reactive to ocean currents, it brings reductions in the energy consumption of the AUVs.

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Modeling, characterization and control of a piston-driven buoyancy system for a hybrid aerial underwater vehicle

Xiong

et al. 2022

Applied Ocean Research

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Three-dimensional trajectory tracking of a hybrid autonomous underwater vehicle in the presence of underwater current

Cited by 27 publications

References 18 publications

Dual-Loop Integral Sliding Mode Control-Based Path Tracking with Reaction Torque for Autonomous Underwater Vehicle

Dual-Loop Integral Sliding Mode Control-Based Path Tracking with Reaction Torque for Autonomous Underwater Vehicle

Energy Aware Trajectory Optimization of Solar Powered AUVs for Optical Underwater Sensor Networks

Modeling, characterization and control of a piston-driven buoyancy system for a hybrid aerial underwater vehicle

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