Steady state trim and open loop stability analysis for the REMUS Autonomous Underwater Vehicle

2009 ◽  
Author(s):  
Daniel E. Sgarioto
Keyword(s):  
Steady State ◽  
Stability Analysis ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Loop Stability

scholarly journals Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

scholarly journals Design and Testing of a Spherical Autonomous Underwater Vehicle for Shipwreck Interior Exploration

2021 ◽  
Vol 9 (3) ◽  
pp. 320 ◽  
Author(s):  
Ross Eldred ◽  
Johnathan Lussier ◽  
Anthony Pollman
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Open Water ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Loop Control ◽  
Design Attributes ◽  
System Requirements ◽  
Design And Testing ◽  
4 Degrees Of Freedom

This article details the design, construction and implementation of a novel, spherical unmanned underwater vehicle (UUV) prototype for operations within confined, entanglement-prone marine environments. The nature of shipwreck interiors, the exploration of which the vehicle was originally designed, imposes special risks that constrain system requirements while promoting other attributes uncommon in typical open-water UUV designs. The invention, the Wreck Interior Exploration Vehicle (WIEVLE), was constructed using 3-D additive manufacturing technology combined with relatively inexpensive commercial components. Similar inventions are compared, followed by a thorough review of the physical and functional characteristics of the system. The key attributes of the design include a smooth, spherical hull with 360-degree sensor coverage, and a fixed, upward-angled thruster core, relying on inherent buoyancy to take the place of a dedicated depth-changing mechanism. Initial open-loop control testing demonstrated stable 4 degrees of freedom (DOF) maneuvering capability. The article concludes with an overview of the results of the initial testing, a review of how the key system design attributes address the unique shipwreck interior exploration challenges, and a plan for the future development of the platform.

Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle

2015 ◽  
Vol 20 (5) ◽  
pp. 618-624 ◽  
Author(s):  
Xiao-xu Du ◽  
Xin-liang Li ◽  
Cheng-zhi Hao ◽  
You-jiang Wang
Keyword(s):  
Stability Analysis ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

Desain Kontrol Tracking Sudut Yaw Pada AUV Menggunakan State Dependent Riccati Equations (SDRE)-LQT

2019 ◽  
Vol 5 (2) ◽  
pp. 187-195
Author(s):  
Muhammad Hasan Basri
Keyword(s):  
Steady State ◽  
Autonomous Underwater Vehicle ◽  
Riccati Equations ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
Algebraic Riccati Equations ◽  
State Dependent ◽  
Linear Quadratic Tracking ◽  
Quadratic Tracking

Dalam merealisasikan permasalahan control tracking sudut yaw pada AUV, penggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT) direalisasikan. Algoritma ini menghitung perubahan permasalahan tracking sudut yaw melalui perhitungan perubahan parameter dari Autonomous Underwater Vehicle (AUV) secara online dengan Algebraic Riccati Equations. Sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri. Metode control SDRE-LQT bekerja dengan cukup baik ketika ada  faktor non linearitas dari sistem, yaitu pengaruh  dari  sudut  roll dan sudut pitch yang mempengaruhi state sudut yaw, yang menyebabkan timbulnya overshoot dan undershoot, dimana kontroler SDRE-LQT mampu mengendalikan sudut yaw AUV sesuai dengan perubahan sinyal referensi yang diberikan dengan error steady state kecil, yaitu e = -0.01282 %.

scholarly journals Steady State Analysis and Optimization for Autonomous Underwater Vehicle

2019 ◽  
Vol 326 ◽  
pp. 012001
Author(s):  
Peng Liu ◽  
YongHong Liu ◽  
BaoPing Cai ◽  
ZhenWei Niu ◽  
XiaoXuan Wei
Keyword(s):  
Steady State ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Steady State Analysis ◽  
State Analysis

scholarly journals Model-Based Design (MBD) for Autonomous Underwater Vehicle

2019 ◽  
Vol 8 (12S2) ◽  
pp. 743-746
Keyword(s):  
Control Algorithm ◽  
Fuzzy Logic Controller ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Integrated Sensor ◽  
Pressure Sensing ◽  
Depth Data ◽  
Depth Control ◽  
The Comparative Study

This project is to enhanced and upgraded a depth controller for Autonomous Underwater Vehicle (AUV) to submerge precisely at the certain depth. This poster demonstrated an AUV equipped with integrated sensor and depth controller based on the pressure sensing which able to continuously sending the depth data to controller. The depth Simulink Arduino algorithm is implemented on an Arduino Mega using ModelBased Design (MBD) with MATLAB and Simulink. MBD used to model, simulate and verify the Simulink control algorithm after obtained data through open-loop experiment test. Then, it deploys and tests the algorithm on the embedded AUV hardware. The focus was in controlling the AUV vertical trajectory as the AUV tried to remain stationary at the selected depth and consuming its rise time Tr , overshoot Os , and settling time Ts are minimized. The comparative study for the AUV depth-control by On-Off, Proportional Integral Derivative (PID) controller and Fuzzy Logic Controller (FLC) controllers. MBD has faster implementation with fewer coding error when deploy to AUV hardware.

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