Wave effects on ascending and descending motions of the autonomous underwater vehicle

Fang, Ming-Chung; Chang, Po Chun; Luo, Jhih-Hong

doi:10.1016/j.oceaneng.2005.09.009

Cited by 29 publications

(9 citation statements)

References 8 publications

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“…SIMULA nON RESULTS AND DISCUSSION Reference vehicle: For the illustration of our work in this paper, REMUS AUV [14] is chosen as a plate form. REMUS is developed for application in autonomous docking, long range oceanographic survey, and shallow water mine reconnaissance ref [2]. A simple PID control is taken for the pitch and yaw control.…”

Section: )mentioning

confidence: 99%

Deep sea motion under higher sea states

Ismail

Shah

Mughal

2012

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences &Amp; Technology (IBCAST)

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Surface waves, induced due to different sea states, greatly affect the dynamics and control of the vehicles operating undersea or on the sea surface. In certain missions involving longer operation time, vehicle may encounter disturbances that are induced by higher sea states, forcing to guide the vehicle to safer depths. In the moderate sea states, taken up to sea state 3, these disturbances are accounted for the motion closer to the sea surface and considered negligible as vehicle moves down to few meters. In case of a rough and higher sea states, disturbances may be experienced even down to hundred meters. This paper attempts to provide a three-dimensional generalization of disturbances in deep sea operating vehicles, by simulating their 6dof motion under higher sea states. A sea state model is realized in terms of inertial forces and moments that vehicle would experience during the motion. An analytical formalism is derived to estimate the induced forces and moments integrated over a given vehicle arbitrarily oriented in the motion. Three limiting cases are considered in this work: (1) the deep water waves: 0.5 < holA <00 (2) the intermediate depth waves: 0.05 < holA < 0.5 and (3) the shallow water waves: 0 < holA < 0.05. For illustration, derived forces and moments are applied to a well known autonomous underwater vehicle (AUY) known as REMUS (Remote Environmental Monitoring Unit) taken as reference vehicle for the analysis. Slender shape of REMUS closely approximates the known vehicles like submarine, remotely operated vehicle (ROY) and unmanned ocean vehicle (UOY) to which these results are applicable. Numerical results show that in case of deep water wave at lower sea state, the disturbance no longer remains significant after certain depth. On the other hand in shallow and deep water wave case at higher sea states, the disturbance is found significant, affecting the dynamics of the underwater vehicles, down to larger depths of operation.Deep water wave case is further taken up for detailed study of vehicle motion in three dimensions.

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Section: )mentioning

confidence: 99%

Deep sea motion under higher sea states

Ismail

Shah

Mughal

2012

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences &Amp; Technology (IBCAST)

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“…AUV (Autonomous Underwater Vehicle) rolls severely if it is navigating near water surface and wave disturbance has an obvious effect on its motion attitude. Violent roll motion often discontinues normal working of AUV and even endangers crew or important equipment [1]. So, it is necessary to study an effective control pattern for solution to the problem of AUV motion attitude control.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

Wang

Pan

et al. 2015

Discrete Dynamics in Nature and Society

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Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.Hindawi Publishing Corporation

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“…ASV (autonomous surface vehicle) rolls severely if it is navigating near water surface and wave disturbance has an obvious effect on its motion attitude. Violent roll motion often discontinues normal working of ASV [1,2]. So, it is necessary to design an effective control pattern for solution to the problem of ASV motion attitude control.…”

Section: Introductionmentioning

confidence: 99%

Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle

Wang

Pan

2014

Journal of Applied Mathematics

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Considering the case of ASV (autonomous surface vehicle) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Control system design is based on GPC (general predictive control) theory and working principle of zero-speed fin stabilizer. Coupling horizontal motion model of ASV is decoupled, and an equivalent transfer function of roll motion is obtained and transformed into a discrete difference equation through inverse Laplace transformation and Euler approximation. Finally, predictive model of GPC, namely, the difference equation of roll motion, is given. GPC algorithm of ASV roll motion is derived from performance index based on roll stabilizing performance and energy consumption used for driving fin stabilizer. In allusion to time-variant parameters in roll motion model, recursive least square method is adopted for parameter estimation. Simulation results of ASV roll motion control show better stabilizing performance and minimized energy consumption improved by self-adaptive GPC.

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Wave effects on ascending and descending motions of the autonomous underwater vehicle

Cited by 29 publications

References 8 publications

Deep sea motion under higher sea states

Deep sea motion under higher sea states

Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle

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