Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems

Control and guidance of Autonomous Underwater Vehicle (AUV) is tedious process as it is an underactuated model where the numbers of inputs to the actuator are less than the number of degrees-of-freedom to be controlled; also the dynamics of AUV is affected by internal interruptions like sensor noise and exterior distractions namely hydrodynamic effects and ocean current. The difficulty of uncertainty in the vehicle dynamics can be handled by adaptive control, chosen based on its clarity using conventional controller like Proportional-Integral-Derivative (PID) and also by intelligent Fuzzy Logic Control (FLC). To increase the quality of these autonomous systems, model-based control strategies such as Internal Model Control (IMC) and Model Predictive Control (MPC) has been focused in this paper. The control operation includes motion planning and trajectory generation tasks which provide the desired vehicle depth location as a function of time and subsequently the controller determines required stern angle position, based on the sensor measurements. The comparative result shows that Model based control strategies exhibits better performance than the classical controls.

Relative analysis of controller effectiveness for vertical plane control of an autonomous underwater vehicle

To achieve vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with the orthogonal joints structure was designed, and its virtual prototype was built using Automatic Dynamic Analysis of Mechanical Systems (ADAMS). This paper focuses on the attitude control of the designed MJ-AUV which is a nonlinear system with strong coupling, big hysteresis, large inertia, and time-varying disturbance. According to the special structure of the MJ-AUV, an error based variable gain linear active disturbance rejection controller (EVG-LADRC) was proposed and compared with the traditional proportional-integral-derivative (PID) controller and LADRC. Simulation results demonstrated that EVG-LADRC outperformed the PID and LADRC in terms of rapidity, anti-interference, and accuracy.

Attitude Adjustment of a Multi-joint AUV Using an Improved LADRC

The increased need for underwater robotic systems for exploration of underwater resources has resulted in the development of advanced control systems and technologies to overcome the challenging issues of underwater navigation and control Developing efficient control schemes for underwater robots to maneuver in the constrained environments, overcoming the external disturbances, has been a real challenge to researchers In this paper, we present an attitude controller for flatfish shaped underwater vehicle as an inner loop controller for trajectory control Here the vehicle is assumed to be positive buoyant and the pitch angle variations are significant to affect the controller The controller is designed using robust PID controller scheme and allows easy tuning of the controller, considering nominal performance and robustness as control specifications The stability of the vehicle is also discussed Finally, certain numerical studies are also presented to better illustrate the controller behaviour

Attitude Control of flatfish shaped Autonomous Underwater Vehicle

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Attitude Control of flatfish shaped Autonomous Underwater Vehicle