Nonlinear trajectory-tracking control of an autonomous underwater vehicle

Heading multi-mode control based on soft-switching for autonomous underwater vehicle

Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

To understand the physical ocean laws of ocean circulation in the deep ocean below 2000 m, a profiling float named FUXING is presented to meet the deep-ocean observation requirements at a depth of 4000 m. First, to meet the low energy consumption and buoyancy regulation stability of the profiling float, the low-power buoyancy adjustment process of FUXING is effectively solved by introducing the external seawater pressure as the driving force. Then, to reduce the energy consumption of the single profile for the profiling float, the optimization of the oil draining adjustment mode in the floating process is studied. Simultaneously, a buoyancy-driven system characterization test was performed to examine the buoyancy adjustment of FUXING. When the frequency of oil draining is 15 times, the total energy consumption of FUXING is the lowest. Finally, FUXING was deployed in the northeast off the Luzon Island to validate the feasibility and reliability. The at-sea experiments indicated that the optimized oil draining adjustment mode can reduce the total energy consumption in the floating process by more than 20%. The profile data showed that the outer sea water gradually mixes with the South China Sea water after passing through the northeast off the Luzon Island. 

/pdf/design-and-experimental-research-of-a-novel-deep-sea-self-898yxvkx.pdf

Design and experimental research of a novel deep-sea self-sustaining profiling float for observing the northeast off the Luzon Island

The main purpose to introduce model based controller in proposed control technique is to provide better and fast learning of the floating dynamics by means of fuzzy logic controller and also cancelling effect of nonlinear terms of the system. An iterative adaptive dynamic programming algorithm is proposed to deal with the optimal trajectory-tracking control problems for autonomous underwater vehicle (AUV). The optimal tracking control problem is converted into an optimal regulation problem by system transformation. Then the optimal regulation problem is solved by the policy iteration adaptive dynamic programming algorithm. Finally, simulation example is given to show the performance of the iterative adaptive dynamic programming algorithm.

Advanced controller design for AUV based on adaptive dynamic programming

Liu, G.; Chen, G.; Jiao, J., and Jiang, R., 2015. Dynamics modeling and control simulation of an autonomous underwater vehicle. A dynamics model of an open-shelf Autonomous underwater vehicle (AUV) is described in this paper. The virtual prototype technology and the control simulation software are used to build the virtual prototype model of AUV, and AUV dynamic location control arithmetic is simulated based on analyzing motion and hydrodynamic mathematical model of the virtual prototype. The simulation results indicate that the virtual prototype system has the function of simulation demo and performance validation, and can provide one kind of new method for AUV graphic simulation, and has very important practical meaning on AUV design and control research.

https://bioone.org/journals/journal-of-coastal-research/volume-73/issue-sp1/SI73-127.1/Dynamics-Modeling-and-Control-Simulation-of-an-Autonomous-Underwater-Vehicle/10.2112/SI73-127.1.pdf

Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle

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Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle