Abstract
This work is devoted to preliminary numerical tests of selected control strategies of underwater vehicles in the absence of a force applied to the side. The aim was to test the effectiveness of control algorithms for underwater vehicle models considered to be underactuated. Initially, the testing algorithm is used to obtain some information about the dynamics model. Several well-known control schemes for two underwater vehicles for two desired trajectories were selected and tested. The simulations made for the planar 3-DOF model of two underwater vehicles show the performance that can be achieved with each control algorithm according to the assumptions made.
Highlights
The control of autonomous underwater vehicles (AUVs) is a complex problem mainly due to the nonlinear dynamics, uncertainty in model parameters, and external disturbances
Selected algorithms for tracking the trajectory of underwater vehicles moving horizontally with insufficient force input were tested in the work
Five control algorithms were compared in terms of their suitability on two exemplary vehicle models
Summary
The control of autonomous underwater vehicles (AUVs) is a complex problem mainly due to the nonlinear dynamics, uncertainty in model parameters, and external disturbances. The AUVs are applied to inspections, surveillance, maintenance, and security within the maritime industry. Due to the availability of forcing signals, these vehicles can be divided into fully actuated and underactuated. The problem of the application of known methods of trajectory tracking for underactuated underwater vehicles which move in the horizontal plane is considered. There exist many control schemes that have been applied to this class of vehicles. Various types of control strategies which are suitable for underactuated vehicles may be recalled here
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