Abstract
This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.
Highlights
The identification of the hydrodynamic parameters of autonomous underwater vehicles (AUVs) at the early stages of conception stands as the main motivation of the present work, since the hydrodynamic parameters could potentially serve as a measure of the design efficiency [4,5,6,7]
In order to estimate the hydrodynamic parameters of a prescribed underwater vehicle, different experimental methodologies have been reported in the literature [4,5,6,7,8,9,10,11,12,13,14,15,16,17], yet, the majority of them require the implementation of top-technological expensive gadgets and tools, which makes the design task difficult for those researchers whose budget and facilities are an issue to overcome
The hydrodynamic parameters identification results are used in order to design the controllers and show their accuracy by numerical simulations
Summary
In order to estimate the hydrodynamic parameters of a prescribed underwater vehicle, different experimental methodologies have been reported in the literature [4,5,6,7,8,9,10,11,12,13,14,15,16,17], yet, the majority of them require the implementation of top-technological expensive gadgets and tools, which makes the design task difficult for those researchers whose budget and facilities are an issue to overcome In this regard, the implementation of Computed Fluid. Dynamics (CFD) software and other computational resources has emerged as an alternative to conceive the vehicles at the first stages of research.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
