Horizontal Parking Control of Autonomous Underwater Vehicle, FOLOGA

Abstract

Abstract In this study, a velocity field control algorithm and an optimal autopilot algorithm are developed for horizontal parking system motion of Fologa which is an autonomous unmanned underwater survey vehicle and manufactured by Graaltech Ltd., Genoa, Italy. Firstly, a nonlinear mathematical model for Fologa is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers are designed for horizontal parking motion which is realized by a suitable combination of rear and front lateral thrusters. The velocity field control and optimal control problem is that the vehicle is supposed to reach the desired position and rotation by consuming minimum energy. Velocity field control is solved with developed velocity field vector notation. Optimal control problem is solved with a genetic algorithm. The performance and consuming energy of velocity field control and optimal control are compared. All of this study is performed in a Matlab/Simulink environment.